YES! you can get crayon out of clothes. We had this happen TWICE and this worked like a charm both times. I was amazed.
I'm not sure about doing this in an HE washer, so you make need to check the suitability of some of the stuff and modify accordingly (Oxyclean is HE, not sure about the borax)
1) scrape off whatever crayon you can
2) put the clothes in the washer. Add the following:
a) 2 large scoops of liquid laundry detergent (whatever you use)
b) 1 c. white vinegar
c) 1 c. liquid shout
d) 1 c borax powder
e) 2 scoops oxyclean
I turned the washer on, let it fill and then let it soak (or use presoak) for about 30 minutes, then wash at the heaviest setting that you can.
The crayon will come off - it's amazing. This worked with green and black crayons on whites and khakis (2 different incidents!)
Inspect clothes CAREFULLY before putting in dryer. If anything remains, do it again.
Good luck!