I had a friend who ended up getting dumped by her boyfriend because of that, although there were no kids involved.

Any sort of solvent.

There are water soluble ones based on ethanols, like methylated spirits, nail polish remover or even acetone.

Or there are oil based ones like turpentine and citrus oil based cleaners.

At a pinch try hand sanitizer or hairspray. (The hairspray you have to work quick as it dries really fast)

This is a really good citrus based one. It gets off marker, sticky tape adhesive, grease, and the fats and proteins in poo.

Im a professional cleaner - and have experience with mutiple types of 'mess' and the appropriate methods to address each type.

Rubbing alcohol

Make the same mark on the opposite side of your body from where it is. Now you'll forget about the first one and because of the second one. 🤷...LOL 🤣😄

Soap won’t do it you need any product that has a strong alkaline solution .
Something like baking soda

Try baby oil

Give it a few days, the skin is constantly being replaced

Time will take care of it.

Potato peeler. Stop when you reach bone 🤔

Permanent marker can be removed from most surfaces using rubbing alcohol, nail polish remover, hand sanitizer, or hairspray. These substances help dissolve the ink, making it easier to wipe away.

Goof off works, most likely so will any alcohol.

You can use urine and it will wipe off pretty easy

Use baking soda paste