Any type of large sheet tracing paper should work.  Even newspaper stock will work.   Typically a number one lead pencil works best, but with a little imagination, colored pencils and crayons may be used.  A tracing could be done in multiple colors as well.  Below is an example of a rubbing, where the last name has been deleted for purpose of being on the web.   It shows the use of a red crayon for the rubbing.

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