a lot of scrubbing with vanish will take out permanent marker from fabric without destroying the color of the fabric in my experiance.
you could also try cleaning with white spirit but this will make quite a smell thats likely to linger for a day or so and should definately be tested on an inconspicuous area first.
carpet and upholstery cleaning companies are usually your best bet, although when i was in the biz cream / yellow suites with jean stains were one of the few jobs with no results. Why do people prefer cream suites, cream carpets etc etc, its the showhome lifestyle !!
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