I use an art transfer paper. It comes in several colors, and it's easy to see. It works like carbon paper used to in the old days.
However, I have been using it to transfer quilting designs to felt so that I can practice fmq. I don't care if it shows, so I have never tried to wipe it off or wash it out.
here is what I mean:
https://www.dickblick.com/products/s...ransfer-paper/
you can also do what Zennia describes with regular copy paper. Just print or trace your design on the paper, and sew through it without thread in your needle. Then pounce chalk through the holes the needle leaves behind in the paper.
This also works with a pattern tracing wheel like this:
https://www.amazon.com/s?k=pattern+t...s-iss-sm_10_11