Ambient light doesn't do what your looking for, it brightens things without respect to the facing. Try adding a light scene node and setting it as a child of the camera. This would cause any faces you can see to be lit up, and be nicely shaded as in the picture.
directional light is what you're looking for, and as Lonesome Ducky pointed out, setting it as a child of the camera will make it behave nicely (as lights usually do in 3d editing programs) if not entirely naturally. You'll also want to play with the angle it's at relative to the camera to get a nice effect. Sending it directly forwards can feel a little weird.
Also you probably want to keep some ambient light (not much), so that your shadows don't become too dark.
To light up the whole scene it might not have to be directional - then you can use ambient light. Another solution is using lightmaps (textures) for the light. For testing out the effect of light on models with and without textures and with and without lights you can also play around with Example 22 MaterialViewer.