Sharpie makes a marker called "extreme"..I have found it to be quite permanent om outdoor plant labels, so it must have some UV resistance in it. I would try one of them on a scrap, and keep tossing it in loads of wash..do that with any marker and you'll soon see what holds up and what doesn't, but I would start with a sharpie extreme.
https://www.sharpie.com/markers/spec...tremeBlackFine