My technique is to paint everything black, no matter what the color is going to be. That's my shadow.
Then I go and lay in the color (spray), leaving the appropriate shadowy areas darker.
If it's a dark color I'll add highlights by drybrushing with lighter shades of the base color and re-justify any lost shadows with either washes or pastels.
If it's a light color, the highlights are already there and there's usually little need for drybrushing, depending on the actual color. I'll simply enhance the shadows with washes or pastels and add additional highlights, only if necessary, again, with a lighter shade of the base color.
Fade to Black...