what ever you choose make sure you test it on a small area and make sure it is going to come out again- some times even if it says that's what it's for they do not always come out- best to always test! even if you used it on the last one and it came out fine- test it on the next one.
all that being said- i have always had the best luck just using a pencil...i've wasted lots of money on specialty markers/pencils/pens/chalk/
consistantly plain ole pencil works best (for me) and has always come out...unlike some expensive marking tools.
there are water erase markers- air erase markers- chalk- tracing paper- transfer pencils- (be careful with transfer pencils- they sometimes are permenent.)