|I have several different types of fabric marking pencils but I find that using my son's washable Crayola markers works well for marking all of those dots. It bleeds through the fabric so I only need to mark one side. It has washed out of every fabric I have used it on and it is something I have plenty of lying around the house. I've been relying on these for years.
ETA: To test the washability of the markers on your chosen fabric, simply make a mark on the selvage prior to prewashing. If for some reason it doesn't wash out, you have not ruined your fabric.