"Micron" Pigma pens are usually pigment ink, which will work very well. They come in various point sizes and sometimes colors.
"Sharpies" may fade, or change color, and may even bleed a bit.
Ball point pens won't wash out but can easily smear and not really "set" well.
I'm not familiar with copic markers.
"Fabric markers" of any kind will work though, and acrylic paints will work well too if applied with a thin reasonably stiff brush. Acrylic paints can also have something called "textile medium" added to them for painting onto fabric so that they won't be as stiff after drying in larger expanses of color, etc., and will flex more (buy at craft or art supply stores near the acrylic paints)...or "fabric paints" already have it added.
You can "color in" the areas of a black and white image you draw on fabric with fabric pens or with watered down acrylic paint (no textile medium needed if you do that) though the colors won't be quite as saturated (for that, use the textile medium).
You might also want to check out my answers in these previous questions for more on all those things (some overlap, some different info):
https://answersrip.com/question/index?qid=20090322115529AAqImwf
HTH,
Diane B.