I guess I should elaborate on my previous answer. The colored chalk that I use is the really small chalk that comes in a black box and has what I would call a "pen" that you load the chalk into. It reminds me of the pencils that you put the lead into. I can't remember the name of this because I got rid of the cardboard it was attached to. The "pen" is red with a yellow button on the end. The box has layer of white chalk then a small baggie that has the colored chalk in. You do have to use a damp cloth to get it off but I used this (even the dark blue color) on white cloth. It came off and you didn't even see that I had used anything for marking.