Frixion "heat erasable" gel pens are great for transferring your embroidery pattern onto fabric. The ink appears to be "erased" by applying heat* (as from a hair dryer). Available with blue or black ink. Both have a Fine .07 mm tip.
*HOWEVER, please understand that the ink does not completely disappear and can leave a "ghost line" on your fabric. Because of this, it's always wise to trace your design carefully and cover all lines with your stitching. In some rare occasions, (such as cold air) the lines could re-appear. For these reasons, please always do a test first on a scrap of fabric so you are aware of the characteristics of these pens and how they will react to the fabric you are using.