The Wool and the Floss has started using a hard silver pencil to mark on dark canvas. You can also use it to lightly color over darker canvas to make it easier to see. To answer your question, they say stitchers who have used it claim it doesn't come off on your threads because it is a very hard lead pencil.
The shop sells the Prismacolor Verithin Argent Metallique pencil in Metallic Silver bundled with a pencil sharpener in case you don't have one at home.
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