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One of the best markers on the market is the Chalk Cartridge Set from Bohin.
An easily changeable pen style cartridge which  comes with its own sharpener and a set of chalks -  4 pink, 4 blue and 8 white chalks.
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 Chalk gives a precise line and washes out of all fabrics with a damp sponge leaving no trace. Chalk does not contain any wax.