This worked surprisingly well to lay out black foam gaskets for new fairing mounting plates:
Mary uses the Fons & Porter Mechanical Pencil to mark quilting patterns on fabric. It has, they say, a “strong ceramic 0.9MM white lead” with “water-soluble dyes” capable of both laying down a durable mark and washing out without leaving a trace. I don’t care about the latter, of course, but it did brush off reasonably well.
The next step involved running an X-Acto knife around the perimeter of the plate and punching the holes.
You can get colored ceramic leads (for small values of color) for use on other backgrounds.