I just use the cheap purple on one end blue on the other end marker from walmart. I had one on the table after marking a quilt the other day and one of the kids ran off with it thinking it was a marker. I haven't went and got another one so I can't tell you the brand but I can say that I have ever only used it on white fabric and it never left anything behind.
One end just goes away with air, and the other end goes away with a spray of water. Neither can be ironed over though. At least the package says not to, I think once I accidently got close to the blue ink with the iron and it still came out but I don't think I would be doing it on purpose.