Fortunately, it's quite easy to make a soft, conductive writing tool using some pretty basic materials. All you need is a pencil, an anti-static sock, and some patience to cut and sew it all together.
Step 1: Gather the materials
1. A pencil or pen (the non-pointy side is the side you'll be drawing with on your touchscreen).
2. An anti-static sock (such as this one, with X-Static in the foot area which contains conductive silver thread).
3. Scissors to cut the sock.
4. Needle and thread to stitch it together.