I have found that drawing my quilting pattern on Golden Thread paper with Crayola washable pens works the best for me. At one time I used ultra fine line black permanent markers but they did leave black dots on my quilts. With the Crayola pens I have no problem. I pin the paper to my quilt using quilting safety pins.
Read about the Crayola pens on this board so a big thank you for the one who first brought the idea to our attention.