Water-Soluble Marker
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A water-soluble marker has a non-permanent, ink that allows for easy transfer of designs onto fabric. It is removable by running the design under cold water. It works well on light and medium colored fabrics.
Blue ink linked here. (Blue is great for marking light color fabrics).
White ink linked here. (White is great for marking dark color fabrics).
Or get a pack of blue AND white linked here.