Boy, does your question bring back memories. I just read Kelly W's answer and I want to see what the Crayola web site says, too!
Meanwhile, here's a last-chance, last-ditch clothing rescue formula: Hot water (as hot as you can get it), non-chlorine bleach, and dishwasher detergent. Soak the garments in it for at least an hour, or maybe longer. Then wash as you usually do. Either it will take the offensive color out or it'll make your ruined garments even more ruined and you can cut them up for cleaning rags.
If misery loves company, you'll be glad to know you're part of a huge group of moms! :^)