There are some that are serrated and more like pin pricks, but I believe they are still intended for marking holes onto paper. While feasibly the pin pricks might show up on a stable cotton or silk, they're not going to show up on lycra.
Rather than putting the fabric over the pattern, put the pattern on top. Use pattern weights to keep it in place. For something like the end point of a pintuck, make a small incision on the pattern paper at the end of the pintuck to allow you to do a tailor's tack into the fabric. Then make a small snip on the raw edge at the top of the pintuck and when the paper is removed you can draw a chalk line between snip and tailor's tack.
Alternatively, what I usually do is just slide my hand gently under the paper and stick a pin in the end point of the pintuck or other design feature. Usually you can et it pretty accurate and you can always lay the pattern paper back over the fabric to check the pin position is correct.
For toiles, I stab through the fabric with an awl. It leaves a bit of a tear/hole in the fabric but that doesn't bother me for a toile.