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Just grab a damp rag, dip it in some baking soda, and lightly scrub the marks.
Apply non-gel toothpaste to the crayon, then scrub and rinse/wipe clean.
Simply rub some mayonnaise on the crayon marks and let it soak in for several minutes. Then wipe the surface clean with a damp cloth.
Simply use the steel pads to skim the wall in one direction with any soapy cleaning mixture.
Simply erase the crayon off of the wall, and you can also erase and then wash for better results.
Soak a toothbrush in vinegar then brush the crayon off of the wall.
Spray some WD-40 onto the marks and wipe with a clean rag, this will not damage the wall and can be used in other applications such as getting marker off the wall.