I used to swear by the Sharpie S-Gel that Robin shared. Then I got a bad set (smeared, ink was clumpy, etc.) and I haven't tried any more since. Then I started using the colored Paper Mate Ink Joy all the time. I still use those now and then. Mostly these days I use Paper Mate Flair Pens. I use them because they show up nicely on my projector screen when I am using a document camera.
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