Water Soluble Transfer Pen This is my go to for getting designs onto fabric.
I pin my design to my weavers cloth or monks cloth and then using my phone light to illuminate the design. Then I draw my image on the fabric. When I am done and if I have any lines showing, I take a cup of warm water and a soft paint brush and go over the lines I want removed. Works like a charm!
There are White makers available for dark cloths as well.