Nice poem. I understand the loss of a loved one. I am 68 years old and have seen the death of my mother and three of my brothers. I sympathize with your loss as well.
There are some technical details to which you should pay attention, in order to improve your poem. First, in your "Brief Description," you said, "Losing my Mother made me feel lose as well." The word "lose" is "loss."
I have included some other corrections here as well. I hope this is helpful to you.
My mother "walked on water," (the quotations are so that you show that you are quoting the term and not actually claiming your mom did "walk" on the water for real, even though she very like was a good woman)
I cannot tell a lie.
The world has lost a special soul, (a comma issue)
Yet, I feel I have died. (Consider the word "that" after "feel," and add a comma after "yet")
My legs can't hold my weight these days,
The sadness wears me down.
You are my angel in the skies,(a comma issue)
Yet I feel as if I've drowned.
Black and white is all I see,
No color to be found. (consider rewording this line, as black and white are colors)
I long to hold your hand again,(a comma issue)
To seek your dear advice.
To see my kids grow up,
The wonder in your eyes.
To have you back,(a comma issue)
For just a few,
Tell me, Mom, what am I to do? (if you insert "supposed," after "what am I," your cadence will work better. Also, in reference to capitalizing "Mom," you do that only if that was her name.)
God bless you, Penelope.