There is a beautiful picture book called THE WALL by Eve Bunting that I read to the kids every Memorial Day. There's a lovely watercolor illustration of the dad making a rubbing of his dad's name. He uses pencil and paper. I would use a fat crayon like a Prang's pressed crayon. If you rub onto black paper, be sure it's fadeless.
They have a directory which makes it easy to find the name you want.
Susan in OR