M.K.
I JUST did this with a red crayon!!! I After trying to iron the spots off, I googled it, and this is what I used that worked: In the washer, Soak in HOT water with 1 cup of white vinegar, 1 Cup of Borax (you can buy it in the laundry aisle by the name 20 Mule Team) and 1 Cup of regular laundry detergent, then wash and do the extra rinse. It worked on everything in the load except a polyester dress of my daughter's (which was thankfully a print). I had jeans, black socks, and a black t shirt in the load. To soak my stuff, I added the detergent and stuff while the washer was filling, swished it around, then added the clothes and left the lid up for an hour, then when I closed it, it ran the regular cycle and the clothes were perfect.
Added: I didn't scrub any of the clothes, and used a Magic Eraser on the dryer insides.