There are 3 options I'd consider -- it depends on your fabric which I'd choose:
1) Hera marker: it's not a true marker. It looks like a bone folder. It just creases the fabric a bit & you follow the creased lines.
2) Golden Threads: You mark your design (either with a pen or by punching a bunch of papers at once with your machine needle) and then pin the Golden Threads paper to your quilt top
3) Cheap white chalk: The kind you find at the dollar store or a clearance bin -- you'll also need a large sharpener. I usually find ones that are large enough in the beauty section (for "lip crayons"). The cheapy chalks brush off easier than the stuff you find in the quilting section. Many of those have stuff added to them to make them longer lasting. I've used a 2" wide paint brush to brush it off, but I think just about any brush would be fine.