Make a mesh inside another mesh appear over the the outer mesh I'm trying to make an effect similar to this but in blender instead of unity :


The darker inner part is a cylinder which is inside a larger cylinder with inverted normals and a solid blue material, which makes a solid blue outline around the smaller cylinder. How can I achieve this in blender?
For Cycles I use this setup (not mine, but I can't remember where i found it) :



You can also use Freestyle, it's a different approach but gives a lot of control over the edge style, thickness etc.