From Sherri Osborn,
Your Guide to Family Crafts.
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My first choice for removing crayon stains is WD40 (a spray lubricant).

On fabric, try spraying a little bit of WD40 onto the spot and dab until clean with a rag. Then you should wash the area with liquid dishwashing soap and water. Repeat as needed and make sure you do not put the item in the dryer until you are sure the crayon stain is gone.

You can also try WD40 on crayon markings on walls and other hard surfaces. Scrub the sprayed area with a clean, dry rag or even with a toothbrush. Another solution you can try for crayon marks on hard surfaces is a bit of baking soda mixed with just enough water to make a paste.

Tip from sylrayj:
"I’ve found baby oil to work about as well as WD-40 on crayon, some marker, pen, and pencil marks on the walls, doors, door frames and furniture (yes, my daughter is very creative). The advantage for me is that the fumes, or aerosol, or something in the WD-40 sends me running for my inhaler, but baby oil doesn’t."

Tip from pj:
"MyY daughter on Christmas Eve decided to redecorate our Bathroom with crayon. Oh MY the masterpiece. Well, we used everything it seemed, and was very iffy using anything on the matte finish. We found that toothpaste works. For tougher areas, leave it on for a little while & then scrub it off."