I think it's the quality of the pencils..crayola...and limited number of color choices that really make it difficult, plus I haven't been coloring with them in a long time so it's a learning process all over again. Because I have such few colors to choose from I have to press light to get the color I want, then hard to get the shading color I want, but that looks bad. Ouch, it can be hard to work with Crayola, since it's the basic of the basics. But, it's not impossible to make things look good with them, just takes a good eye and patience.
Since the colors are limited, try layering colors on top of each other for a better effect, like laying down a light layer of blue and going over it with another layer of green to get a nice color. Of course that color combination is just an example, but it doesn't hurt to experiment on a different sheet of paper before trying something on a drawing.
How can I take a picture then color it? Wouldn't I have to ink over it digitally to get rid of the grey and warpedness, or is it about holding the camera to take a picture of it straight on? It is possible to get good results with a camera, but most of the work it put on your image editing program. When taking the picture you have to make sure you have a flat surface, good light, and a steady hand. Try to take the picture as straight on as you can so that the drawing doesn't get skewed when you upload it to the computer.
Once you've uploaded it you need to put it in your image editing program and mess with the Brightness/Contrast, Levels, and exposure until you get the cleanest lines possible (also helps if you desaturate the image beforehand). If done right, your lines should come out clear, no problem.
I suck too much at drawing to fit a full figure onto one single 8 by 11....it's always either a detailed character or a full bodied character, I have to sacrifice detail to fit a full figure on such a small peice of paper. I would love adobe CS-whatever number, but I can't afford anything more than elements, and that was a gift. My balance is $0 LOL. I've got Manga Studio and SAI too, but they kinda fail at technical stuff. (though they make up for it in artistic stuff) Slowly, I'm getting used to tablet work, and at least can draw better than I used to with one. But it's soo hard to follow along a line lol. My tablet (Bamboo) is also really small, but I've seen artists do amazing with a Bamboo so I guess I shouldn't use that as an excuse! I understand, it can be difficult to work small, so I don't blame you for working on bigger paper. Though, bigger paper is more of a hassle to scan/picture, which is why I've switched to just drawing straight onto Photoshop.
Yeeahh, it's unfortunate that Photoshop costs so much, but GIMP does have a good handful of Photoshop features. Can't say I've used Elements or Manga Studio before, so I don't know what features they have or don't.
But yeah, Sai and Open Canvas are great for coloring.
Yeah, Bamboos are a bit tiny, but great stuff can still be done on them. When I first got my tablet I got use to it faster by using it not only for drawing, but for normal computer use as well. Even if you're not drawing it helps you get the feel for your tablet faster and better know its perimeters.
Well, this drawing sucks and is from a long time ago, but the quality of the colored pencil colorings is the same as it is now...I still use color pencils the same...and it's hard http://i295.photobucket.com/albums/mm150/darkangelofsadnesskayley/scan0001-1.jpg And here is an example of both digital drawing and inking of mine...I'm not so good at drawing Awh, don't be so hard on yourself, even Da Vinci had to start somewhere, yeah?
Now, coloring technique and lighting theory, although different things, go hand in hand, since your coloring relies on your lighting, so I'll try to go over both.
First things first, and this applies to both your traditional and digital drawings: Lighting. In the first drawing you're making a slip up that all artists go through at some point; Pillow shading (it's something that I commit as well sometimes, it happens to the best of us).
I'm not too good at describing things in words, so here's a pillowblob to help me illustrate;
It's preferable to avoid pillow shading the best you can, since good lighting can really add dimension to your drawings, making them more 3D and more believable. It's not often that your light source will result in you having to do pillow shading unless it's a low light or in a dark area. More often than not, if it's brightly lit, then you shouldn't pillow shade.
Your second drawing doesn't have much pillow shading, but the lighting could be a bit more defined.
For more info in lighting theory (or Chiaroscuro), here's a simplified guide:
You should also keep in mind that the brighter your light source, the sharper your shadows are.
Now, more for coloring technique~
In your traditional drawing, the main area that needs improving is your drawing direction and flow.
Again, I'll use sum' pictures to illustrate what I mean;
You can usually give your drawings more shape and dimension when you follow the form of the shape you're coloring, making it pop out more.
If your strokes go against the form of the shape, then it'll make the object appear flat.
The flow and consistency of your shading and pencil strokes also counts when coloring; when you color evenly and consistently then your drawings will look more complete and neat.
Okay, I'll stop here before I go on even more of a ramble.
I'm sorry for posting such a HUGE text wall, but I am an art mentor, studying to be an art teacher, so this is my tunes here, ehe.
If you have any questions I'd be happy to explain further.
Your drawings are good and have potential, but no matter what art level you're on there's always room for improvement, it just takes practice to get to the level we all want to be at. As long as you keep at it and don't give up you should be fine.