Black Frixion Heat Erasable Transfer Pen

These pens by pilot work well on fabric and are easily erasable with a hair dryer or iron (hair dryer is my favorite. Done in seconds and no waiting for the iron to heat up).

They have a fine point that is perfect for intricate designs or small details especially for embroidery on clothes.

The one catch is that in very cold weather the lines can reappear and heat needs to be reapplied. This is not the case if the item has been washed, as is the case for clothes. The coldest it gets in my Texas home is 60 degrees so reappearing lines haven't been an issue for me. But I would not use them if I lived in Alaska. Do take this into consideration.