A method for continuously manufacturing a writing or coloring pencil, consisting in coextruding in one coextrusion head a lead material which is a first thermoplastic material containing a filler, and covering said lead material with a layer of wood material which is a second coextruded thermoplastic material containing an expanding agent, wherein the coextruded lead material is, prior to receiving its casing of the wood material, enveloped in an intermediate protective layer produced by coextruding a further thermoplastic material which contains no expanding agent, and is compatible with the lead material and the wood material and has a melting point which is equal to or higher than both the melting points of the lead material and of the wood material, such that the thermoplastic material constituting the protective layer is less fluid than the lead and wood materials at the temperature of the coextrusion.