There are a couple of ways you can do this, some easy and some not.
One way that produces very good results - if you do it right - is as Merc described; you hand paint grey highlights on the edges of panels and ridges on your figure. That can produce very sharp results, but can also drive you insane depending on the mini in question.
Now, another way that isn't quite so eye popping but that still works quite well is to prime your mini in light grey, then spray it down with Testors Black Window Tint. Think of it as a very heavy sort of wash. It leaves the edges lighter than the rest, and can get you a decent looking black with no real trouble. Add in a bit of drybrushing with your base coat, and you're golden...and, you can always hand trim large or obvious panels. I used this method on this mini:
