You know what you need? It's called a Ceramic pencil. It's a special mechanical pencil which had ceramic lead that will mark on fabric. My mom is a quilter and just helped me with 2 under-quilts and that darn pencil ROCKED! I messed up marking a couple baffle lines and I just took a damp washcloth and wiped them off with light-med pressure. Chalk would have not worked at all as it never would have made it to the sewing machine, and I had the same worry as you with permanent marker or grease pencil about it showing through the final product. Looks like
Sewline makes one - and you can get different colored leads as well to contrast with your fabric. White worked great for me on black/grey, hunter green, and even a medium tan. This pencil, a large table, and the right sized Omnigrid with the neon-green contrast markings saved my first quilting experience
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