This is called "cel shading". And without shaders, it isn't possible.
Well, yes, it's possible. But not really easy or economic.
This is the trick:
First, load an object and disable lighting on this objet. Then "fade it up" to make it look very bright; it'll give it a toon aspect.
Now, to give it a black outline, you'll have to duplicate the mesh, scale it up a few (105%, 110%), and invert its normals. This way you'll only see the borders of the mesh.
Here's an example, to make it clearer:
hide mouse:sync on
rem Load an mesh
load mesh "meshesrocket.3ds",1
rem make an object from it (n°1), and another for the outline (n°999)
make object 1,1,0
make object 999,1,0
rem scale the outline and invert its normals
scale object 999,-110,-110,-110
rem get the modified mesh from the outline
make mesh from object 999,999
rem Now you can delete the outline object and add the outline mesh
rem as a limb to the original object
delete object 999
add limb 1,1,999
rem you can color or texture the object...
color limb 1,0,rgb(255,0,0)
rem but the 'outline limb' must be black!
color limb 1,1,rgb(0,0,0)
rem sometimes, the 'outline limb' is rotated (bug? bad model?)
rem You can correct it this way:
rotate limb 1,1,0,0,180
rem Disable lighting, make the object brighter, et voila!
set object 1,1,1,1,0,1,1
fade object 1,5000
rem A little demo
do
rotate object 1,0,wrapvalue(object angle y(1)+2),wrapvalue(object angle z(1)+1)
sync
loop
It's not perfect, but it can work wonder if you don't look too close. And it doubles your polycount, too. But hey, I've warned you...
P.S.:I've add the "rocket.3ds" file used in the example under the download button.
Ideas: memories of things which did not occur yet...