Lightly sketch your picture onto medium-weight paper with a pencil. Outline the basic shapes with the markers. For a hard, stained-glass type outline, use permanent markers for this step. Otherwise, use the same type of markers you will be coloring with.
Color in each shape with broad strokes that go in the same direction. This is where a chisel tip marker comes in handy as it can be used to both outline and color.
Give the drawing time to dry completely. Define the shadows in the picture by filling them in with another layer of the same color.
Use a white gel pen to add highlights. To desaturate color, brush the areas with a cotton swab or a watercolor brush.