To remove crayon from fabric, scrape off as much as possible, rub liquid dish soap into the area and let it soak. Then, rub the fabric in warm water, and machine wash the item in hot water with OxiClean or Clorox 2. Crayola also recommends Amodex Ink & Stain remover.
Machine wash the fabric using the heavy soil setting in the hottest water the fabric can handle. Allow the item to air dry. Repeat the process if necessary. Crayola recommends either Dawn or Joy liquid soap.
Freezing the fabric first hardens the crayon if it is soft. After scraping off the excess, place the fabric between two paper towels and run a warm iron across the area to transfer the stain to the paper towels. Pretreat the fabric with a stain remover and once dry, launder with either chlorine or oxygen bleach, depending on how much of the stain remains and the type of fabric being treated.
An alternative is to place the stained fabric face down on a stack of paper towels and spray the back with WD-40. Let the WD-40 soak in for a few minutes, and then spray the top with WD-40. Rub liquid dish soap into the stain, and launder the fabric in the hottest water possible with chlorine or oxygen bleach.