Regular Sharpies markers will come out in the washing machine eventually.
Although the Sharpie is supposed to be permanent and does withstand a few washes on clothes the sharpie will eventually come out when washing the clothes.
Just like sharpie will come out of skin when you write on skin the sharpie will eventually come out of the clothes when washing it.
However if you want to permanently write on clothes and need to wash the clothes then you can get markers made to write on clothes with.
That clothing marker ink will withstand the washing machine washing the clothes more than a regular sharpie.
However if you just want to write on the clothes with a sharpie and just hang the clothes up or hang the shirt or something on the wall then the sharpie will work just fine when writing on clothes.