I've had good luck using Micron pens. The ink has a bit of flow (sinks into even deep and narrow panel lines, with a few passes) and takes a few seconds to dry (can wipe any spillover from the surface), when not applied to an absorbent surface like paper, which makes them perfect for the task. At least, if you want a very stark effect. The ink is BLACK - intensely so, and without the reddish, almost metallic sheen that Sharpies can leave on smooth surfaces.
Pin washes are another option. After a coat of gloss varnish, solvent-based washes, especially, will hug corners tightly and flow to fill cracks with very little brushwork necessary. Look up some tutorial vids, as it seems almost magical, in action - touch a brush to one side of a hatch, then watch the blacklining magically spread.
One other option I've seen that Sean didn't mention is gouache. Being, essentially, the opaque version of watercolors, you can simply splodge it thickly into the recesses, then clean up the overflow with a damp cotton swab, even after allowing it to dry. Much faster drying than oils and doesn't necessitate the use of stinky (at best - caustic, at worst) solvents.
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