You could try acrylic markers, they have a feel like markers, but are also similar to painting with a brush, depending on the kind your get. The only issue would be in texture and color picking, because the palette is limited no matter how many of them you buy, which can be turned into an opportunity to develop creativity, but do it at your own accord. The reason why I’m suggesting them is because they’re easier to use immediately and getting yourself used to drawing/painting on regular basis, plus experimenting with colors and learning to abandon the fear of making mistakes. Also, sorry, I just realized you want something like crayons, in that case pastels are way to go for sure, but just know that you have plenty plentyyyy of mediums and tools to try, don’t limit yourself to just one kind! ;p

Edit: accidentally typed “kicking” instead of “picking”