Personally, I have had good success using makeup remover...
But, according to GoodHousekeeping:
1. Place the stain face down on clean paper towels.
2. Sponge rubbing alcohol into the area around the stain, and then apply it directly to the stain.
3. Continue sponging the stain with alcohol, frequently changing the paper towels underneath, transferring as much ink as possible to the paper towels.
4. Rinse thoroughly.
5. Launder.