You can almost certainly get crayon out off upholstery with a Magic Eraser or some other solvent.
upholstery can be used in a sentence as such. upholstery keeps the comfort intact.
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I think it will flake off. The crayon has an oil and wax in it and that means the paint won't adhere to the surface.
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Draw on it with crayon
you should be able to buy a spray can of Graffitti remover. If the mark has been made by a wax crayon a stiff wire brushing should help, maybe a strong solution of household bleach. Hire a pressure washer and blast it off. If all else fails, after a few months it will have probably worn away
Use a kitchen pan scrubber and and Goof Off. It will soften up and come off easily without harming most upholstery. If you are unsure, test on a piece not normally visible first.