I get the felt tipped Frixion pens from Amazon (the multi-color 12 pack in Japanese lettering). They are easy to use on quilt after its sandwiched . . .but if using before, doesn't create a drag on fabric the way the ball pont Frixions do. Then, when done, simply iron it off. It doesn't return when exposed to cold as long as it's put thru the wash.
On darks, I use the white chalk loaded in a Pounce.