I find a damp cloth gets rid of them when they happen. Started to use Mitchum recently and it is a beeeatch for marking stuff. Despite saying on the bottle it wouldn't mark, it does and often.
baby wipes might work
Go up to your underware draw and find a cotton sock wipe dry over the stains and they should disappear (must be cotton though.)Dont use anything wet as it looks gone but when it drys the stains reappear.Got this tip from a beauty mag a while back.Good luck with it
Did you try pretreating the stains with Ace?