There are many different types of marking tools.
Fabric chalk is used at times to mark the quilt top for quilting. Most chalk will wipe off of the fabric but it is important to run a check on a scrap of fabric before using it on your quilt. I have used fabric chalk (that was made for easily washing out of fabrics) that did not rub or wash out of the fabric, much to my dismay.
See Chalk for more info and purchase suggestions.