Use good quality crayons (Crayola works well) for the best results. Making the fill color darker around the edges is a good technique for adding dimension. As you work, don't press too hard. It's better to add layers of color than to have too much color that you can't remove. Take care to color evenly and without causing color streaks. When you're finished, place a piece of scrap fabric over the coloring and iron the paper on a high setting. This will heat set the coloring and remove excess wax.
If you want a clean and bold look for your picture, you can use colored markers for the color. It has a wide variety of colors and you can choose between fine tipped ones and broad tips depending on your needs. There are also refillable markers where you can just purchase ink whenever it dries up or loses its color. It's also an easy material to use. You just have to apply a single coat on the drawing. You can also add some more details using either a white colored pencil or a white inked pen.