I bought a pack of newsprint paper that I can run through the printer. I print my FMQ pattern on the sheets, put them on the quilt where I want to stitch (usually useing temporary basting spray on the paper), and quilt over the paper. It rips off easily. I'll use a tweezer here and there if some of the paper doesn't come off as easily.
I hope you find a convenient method that works for you.
I've used the Crayola markers and have found that I usually have to run the item thourgh the washing machine to get it all out.