http://www.crayola.com/canwehelp/staintips/stain.cfm
I hope this link helps, you are supposed to select the product that stained your clothes, then hit the next button.
If it's a regular crayola, then this is what it says:
How to remove Crayons (Regular) from fabrics-fresh stains/heat-set stains(melted):
Materials
Laundry detergent
Liquid dishwashing detergent
WD-40® (car part lubricant)
Bleach for colored clothing (Clorox 2® or Biz®)
Paper towels
Procedure
Place the stained surface down on pad of paper towels, spray with WD-40, let stand a few minutes, turn fabric over and spray the other side. Apply liquid dishwashing detergent and work into the stained area, replacing towelling as it absorbs the stain. Wash in hot water with laundry detergent and bleach for about 12 minutes (use heavy soiled setting if there is no minute timer on your machine) and rinse in warm water.Special Note:Heat-Set Stains-Clean the drum of your dryer to remove any remaining wax residue. Spray a soft cloth with WD-40, and wipe the drum. Run a load of dry rags through a drying cycle to ensure that your drum is clean.
Return to Step 1 and select another product
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The suggestions for removing stains have been compiled as a service to our consumers. We are unable to guarantee or be responsible for the results obtained by these procedures. You may also wish to consult your local cleaner for further recommendations.
Before attempting the stain removal method, test each procedure on an inconspicuous area of the material or surface to be cleaned. Please be advised these stain removal methods involve hazardous products and are intended only for adult use. Binney & Smith does not recommend children attempt these procedures.
In many procedures, specific brands of products are recommended. These are brands that performed most effectively in our laboratory. Competitive brand products may work equally well.