I've heard that the mark made by a Frixion pen can sometimes reappear after you think that you've erased it so I would test thoroughly just in case
I've used the water erasable pens and the water soluble crayon types too and had success, depending upon the fabric colour that you're quilting a
very fine pencil line can be successful.
If you're interested in quilting repeated motifs, rather than drawing each one out singly, I draw one copy in pencil onto Baker's Parchment paper, ( used to line cake tins ),
Then stack up to about 5 blank sheets of the parchment paper with the design copy on the top, pin them well together.
Using an old blunt large needle in your machine and
no thread sew the design as if the paper stack were a quilt sandwich.
You will then have 5/6 copies of the design which you can place ' rough side ' up upon the quilt sandwich. Pin well and fmq guided by the markings on the parchment paper.
The paper tears away from the completed design and your quilt is beautiful.
This is really useful for a complex design.