I don't know if it's sure fire, but the two methods that generally work for me are rubbing alcohol or hair spray. For the rubbing alcohol, spread the ink stained portion of the clothing against the sink or counter top, then apply the rubbing alcohol. I generally put the rubbing alcohol on a rag (a lot) and then squish it into the stain, then blot with another part of the rag, rinsing periodically in running cold water. This prevents the ink/alcohol mix from spreading all over the garment. For the dryer, I would pour the rubbing alcohol on a rag, and rub, then wash it with warm water...maybe put a few wet rag towels in there. The hair spray is easier, but it doesn't always work--just spray generous amounts on the spot.
I have to say, I don't know if either method will work once the clothes have been through the dryer--the heat might set the ink.
Good Luck!