I order the heavy duty zinc paw paw labels from everlast and use a number 2 lead pencil to write on them. A friend uses the same type of label but the stakes are stainless steel instead of zinc. So far my galvanized stakes show no discoloration and after years of use I have not had one rust or break. I have used the copper labels and they weather and darken with age. The name is permanent as it is impressed into the metal but I have to spray them with water in order to read them. I plan to phase all of the copper labels out.
As far as writing on the labels with a pencil I have had no fading and I think that the carbon will last forever. I have used temporary markers made of plastic but again the only print that really takes a beating in my garden and never has to be replaced is with a pencil.