Tuilagi and Sharples survived the cut ahead of David Strettle and James Simpson-Daniel as Johnson narrowed his preliminary squad down to 40 players on Monday.
The young duo are now in line to make their international debuts at either Twickenham this weekend or the Millennium Stadium next week.
20-year-old Tuilagi, who was named Aviva Premiership young player of the year, has continued to impress in the England camp, scoring a try in last Thursday's internal trial match while 21-year-old Sharples has been described as "the fastest white guy I have ever seen" by full-back Ben Foden.
"I've been impressed (by Tuilagi). He's a strong, powerful young man. He is an incredibly impressive physical specimen,' said Johnson.
"You saw the quality of Manu last season in the Premiership and I think he's improved just being in this environment here, like all these guys do.
"He's worked very, very hard and he's just got better and better.
"He has come in from a very good club, understanding what it is to be a professional player and work hard and prepare - like Charlie Sharples and like Tom Wood when he came in (during the Six Nations).
"(Sharples) is a very impressive young man who has worked very hard. He's got his head down and taken it all in.
"He's very thorough in what he does - he's an impressive lad who has taken that next step, as 40 of them have."
On Thursday Johnson will name his side to face Wales but will not include Courtney Lawes and Ben Youngs, who are both injured.
"These (warm-up) games are the only time in your England career when there is a bigger picture. The players know what is at stake," added Johnson.
"There are still 40 players here and they all want to play well - but the best chance of doing that is as a group and not as individuals."
Joe Worsley, Thomas Waldrom, George Chuter were also amongst the casualties on Monday leaving veteran hooker Steve Thompson, Harlequins captain Chris Robshaw and Sale flanker Hendre Fourie in contention for World Cup selection.
"Thomas had an injury to his calf that meant he wasn't able to train at all in the last two weeks. The other decisions were very tough because everyone has contributed massively," said Johnson.
"It was particularly tough on Stretts (Strettle) who has trained very well and did everything we asked of him.
"Joe has come back from some injuries last year, worked incredibly hard to get back in but just came up a bit short right now."
Meanwhile, winger Chris Ashton laughed off the controversy created by England's new all black change kit.
"You are more worried about playing for your country than what colour kit you are wearing. If we played in pyjamas it wouldn't bother me," said the Northampton wing.
"The grey one worked well - we played well in it - let's hope it is the same with the black one."
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