Feline's tute is great and really helpful. I also use Pam Clarke's stencils that give you reference markings (like putting marks in the border so you can keep FMQ consistent) for several uses--and usually will use a foam paint brush and ponce chalk--it comes right off with using a netting scrubbie to whisk it off. FOr more complete marking, I'll use the blue wash-off pen or the purple air removal (but only short term cause it disappears rapidly). And I have a F & P fine chalk pencil and a thicker one--I only use white chalk, even with white fabric (I switch to my black light on my machine when I do that). Also, if you have a piece of plexiglass that stretches from your belly bar to the back of quilt, and a laser light that moves to the front, you can use drawn out designs--although I find that a little tricky.
I personally hate doing pantos--boring and I hate working at the back of the machine anytime, so I've tired lots of different marking methods--and really appreciate Feline's post for those that are very complex.