I recently read about a method to mark designs on black fabric: you turn the pattern to the reverse side and, with white/light chalk, trace around all the parts where the lines are. Then, turn over the pattern and put the chalk side down on the dark fabric and use something--pencil, perhaps--to trace all the lines from the front side. I haven't tried it but it seems like it would work.
Something I have tried, though I don't think it's ideal, is to use dressmaker tracing paper (hopefully the non-wax version) and use a tracing wheel on the pattern side.