No, there is no software that can color a scanned image for you.
Once you start scanning things in you might realize it is very difficult to work with them at first - if you use scanning software to make an image black and white it will be hard to control which areas show up in the scan. Scanning in greyscale will give you a "dirty" image which can be difficult to work with.
There are ways to edit the raw image to create clean lines which would be easier to work with (i.e. filling spaces with color using the bucket tool)
Painting in raster software (photoshop, gimp) without a tablet can be very difficult, and even with one it takes a lot of practice to get comfortable with the hand-eye coordination and the different tactile feedback it requires.
You might want to try vector software (illustrator, flash) the process in those revolves around creating and manipulating shapes.