You can bake different things onto your textures. Like lighting, or ambient occlusion.
I tend to do a bit of ambient occlusion and put the bump on a bit. And you can do that by simple exporting those maps and then compositing them onto the flat colors in photoshop or something (set as overlay or multiply, and then crunch down the curves).
Different programs export different sort of maps though (like zbrush the displacement has mostly 50% grey, which is why I gotta crunch up curves so it doesn’t darken everything)… so it’s more about playing with it and seeing what looks ok to you.