After some web searching and Sharpe hotline calling, we found that rubbing alcohol and 'Goof Off' seemed the most successful at removing the marker (in case anyone out there is in need of this extremely valuable information). After some heavy duty scrubbing...and careful wiping (the Goof Off starting removing the Sharpe, but also the paint along with it), we removed most of the damage.
It came off of the drawers above, the toybox and the nightstand. Unfortunately the closet door and the footboard did not make it... Fortunately, the headboard and footboard on the bed are identical, so a little switch-a-roo on the bed and Voila! We also did a little switch on the closet door as well - unscrew the hardware, turn the door around and Yippee! All signs of Sharpe marker - GONE!
Well...except for the few marks on the carpet. We're not going to complain though...we could've been shopping for all new furniture!
AAAAHHHH the joys of a 3 year old!!