Just be aware that the colored pencils are not usually lightfast (ie, not permanent) colors. Special lightfast artists' versions of colored pencils are much more expensive and are labeled as "permanent". If they aren't labeled that way, the color will soon disappear, no matter how they are surface treated, no matter that the quilt is never washed.
If it were MY project, I'd take my daughter's colored pencil drawings, scan them, and print them out in color on fabric, as many quilters are now doing.
One woman's opinion: