This happened to me too, one red, one yellow and one green crayon...melted in the dryer.
I looked on the Crayola website and got great tips...
What worked best for me was to spray WD40 on the stains and then wash and repeat...some clothes were not salvageable due to the sheer amount of crayon that was on them...but I saved all my husband's blue jeans (he is 6'4 and they are expensive).
To clean the dryer, spray the WD40 on a rag and then use it to clean the dryer...then hot soapy water to remove the film of WD40. Do NOT spray it directly into the dryer.
Good luck...crayon in the wash totally sucks!!