First, the best way to prevent heel marks is to have a "no shoes" policy in your house. If you have a heel mark you need to remove, just rub it with a pencil eraser. A "magic" eraser works well for removing heel marks on floors or baseboards.
Removing Black Heel Marks
At our school, the janitor uses a tennis ball on the end of a broom stick. (05/03/2006)