Vivid colors, relatively strong (and, ideally, smooth - blends, not a lot of edge highlights) contrast, and stark blacklining are what you're after. Nard's 'nids (one is pictured in the spoiler above, but he has tons more in his gallery) are a good example, but you could employ the same technique on just about any army. Orks are an obvious candidate, as their scrap-tech aesthetic resonates well with that of Borderlands and they have a lot of hard edges and sharply defined features to pick out. Something like Eldar would be trickier, as you're basically just circling gems and lining joints - too many smooth surfaces to drive the effect home.
On the blacklining, a micron pen would likely do the trick. A Sakura Pigma 005 is pretty fine and the ink has a bit of flow - with repeated passes depositing enough for capillary action to kick in, I've yet to meet a panel line that I couldn't get ink down into. Oil or enamel washes are another option. After a gloss coat, apply a pin wash (to save on cleanup) or just cover the whole model (to save time), leave to dry, then come back with a thinner-dampened cloth to wipe away all but the recessed lines.
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