On May 8, 2007, I posted the exact same problem - mine was red crayon and it was literally on everything. I got a lot of advice, some complex some simple. BUT what actually worked was this: I did a search and found a bunch of people on other sites recommended the following:
1 capful Tide Cold Water, 1 cup Spray and Wash, and wash in hot water on the heavy soil setting. I also threw in a scoop of OxyClean for good measure.
Well, it worked! I washed once, noticed a huge difference, washed again and I can only find 5-6 spots total and 4 of them are on socks - Who Cares?!
I am a believer in this method because it was easy - some advice called for scrubbing each spot, but the crayon was everywhere - and it worked. Good luck!