We've been using the wet/erase battlemats from Paizo and they work fine. A piece of moist cloth or tissue easily removes all the drawings on it, right after the session.
You can't leave the markings on for a week though...
The color red seems to stain more often than the other colors as well.
However, we've found that using rubbing alcohol on it then wiping it off pretty much clears anything from the map, even markings we've left for a week or more.