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Not so magic... Just a marker that is either permanent or removable - generally used on paper. Yeah, they tend to bleed into the paint and stain it permanently. Guessing that it was a permanent (oil based) and repelled the next coat of paint.
Magic Marker is a brand name like Kleenex or Coke
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It is incredibly OLD FASHIONED but the old overhead projector - something like was used in grade school - is a good way to push the outlines to the truck. The TM that shows you how to paint the shapes with a projector makes the job simple.
YouTube and searching will give you samples. Not...