We checked on this with Henry Wilhelm. He pointed out that when his "
Permanence and Care" book was published there were fewer substrates. Pencil would still be a safe option. But unfortunately it could also be easily erased. However, if you do use an ink pad you might want to press the stamp on the pad followed by stamping copy paper a couple of times until the stamp is no longer black in color but rather gray. This would allow for less chance of damage caused by density of ink. Checking
Light Impressions website resulted in no viable options. Drew did, however, suggest that you could stamp a print's border, away from the image, and this could suffice. Should anyone run across a product that meets all requirements it will be of great interest.