The regular pounce powder will brush off as you are quilting. I have seen it demonstrated by pouncing and then spraying with hair spray and then hand quilted.
The Magic Chalk stays on better and is removed by steam iron. I havn't tried this but many quilters swear by it.
I do not recommend any chalk that has color in it. But the suggestion of weakening it with white chalk is a technique used by many LA qulters.
Now.......any rubbing off is effected by the amount of rubbing that goes on while quilting. It might be better to mark as you go if machine quilting. I am experimenting with the spray on chalk marking.