It's important to note that I never use dark colored cloth as the base of my embroideries - I almost always use unbleached muslin. For dark cloth you'll have to try iron-on transfer pencils or tailor's chalk. :)
Want to learn to embroider? I've got an instructable for that! Check it out by clicking here.
Step 1: What you'll need:
- regular printer paper
- fabric of choice
- a pen/sharpie for darkening lines
- a water soluble pen
Air soluble pens are unpredictable and quite grumpy. Sometimes the marks you make fade within a half hour, and sometimes they never come out. I learned to avoid them the hard way several times. :P