I have Fons & Porter chalk pencils that come in a variety of colors. The white one works great on dark colors. If I'm not drawing through a quilting template, I often use a sliver of soap for straight lines. For hand quilting, if nothing else shows up, I just use a piece of masking tape to quilt beside for straight lines. You can move the piece and reuse it a number of times.
I've looked at the Fons&Porter lead pencils that you can get refills of the leads in different for marking my quilts for hand quilting. Has anyone used those? Do they work well and wash out okay?