Believe it or not, cigarette ash works. An old friend who was in the army told me to dip a damp cloth in some cigarette ash and just wipe the marker. I tried it, and it really works.
I would try rubbing alchohol on a paper towel first. It shouldn't bother the paint, but should get most of the ink off. Maybe someone knows how to get it all off, if alchohol does not work. (IN a pinch, you can use hand sanitizer, or sanitizing handwipes--they're mostly rubbing alchohol.)
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