Even so-called permanent markers like Sharpies aren't persistent on smooth metal surfaces, glass and glazed or vitrified ceramics, and waxy plastics and dependent on the carrier solvent may not be persistent on smooth epoxy surfaces e.g. PCBs. They typically smudge or wipe off with skin contact during normal handling. For a permanent result, you are likely to have to prepare the surface by abrading, etching or flame treating it it, then use a paint pen or preferably a pigment ink with a themo-curable binder compatible with the substrate, and seal it with a coat of lacquer.