Amanzi, being a mother myself, I have had this happen. I found this on the crayola website...and it actually worked.
How to remove Washable Crayons from car interior fabrics and carpeting:
Materials:
Dull knife or metal spoon
Liquid dishwashing detergent
Small stiff bristle brush
Warm water
Sponge
Procedure:
Scrape excess crayon off with a dull-edge knife or metal spoon. Spray or dampen with warm water and apply liquid dishwashing detergent on the stained area, work in with the brush and wipe stain away with a damp sponge. If stain remains, repeat the procedure.
here is the website incase you had something other than washable crayons...
http://www.crayola.com/canwehelp/staintips/stain.cfm