You can choose to buy bingo daubers that are both permanent and non-permanent. Of course, if you use the bingo marker on paper, the ink will remain permanently because that's what they are used for, to mark the numbers on the bingo cards.
So, just to be safe, if you don't want to leave stains on furniture, carpet, or whatever accidentally, just pick the bingo daubers that have a non-permanent ink.
If you accidentally put ink on your skin, you don't need to worry as it will wash off eventually although it may take some time to disappear completely. Hope that helps.