I have always just used a regular old pen to mark my calls on the tape if I wanted to label them and I haven't noticed any ill effects from the ink. A pen will write on the tape fairly easily if it is dry...not so much if wet. You may need to re-mark the calls, if needed, as the ink fades from being in your mouth a lot, however.
I have not tried using a permanent marker like a "Sharpie". I suspect that would work better than a regular ink pen, but I'm not sure that the ink type used in those would not be toxic to a degree.