That's what I do. He is probably referring to pastels in chalk form. It comes in sticks. Usually I shave it with a razor blade to get it in powder form. You can blend colors until you find the correct mix. Then just rub it into the body. If the color doesn't look correct, you can usually just wash it off and try again. Once done, it is fairly permanent. You won't have to worry too much about rub off in this instance because there aren't a lot of clothes. You don't want to constantly be handling it though. I posted this back on page 3. This is the body I used and the color match. Color isn't perfect but it looks even better in hand.
View attachment 513955
View attachment 513956
Yes mate, thats how I did it, but the chalk was just kids play chalks as thats all I had around at the time ..... I also used a large brush ... went on more evenly