Art does not have to be freehand drawing! Stencils, tracing, etc. Whatever method you use is secondary to the creation of a vision you have. I sharpie all my discs with my name and #(I've been surprised how many discs I found with no contact info.) On occasion, I need to re-ink them as they get a little faded.
Art markers also work, but they do fade as the disc bounces in and out of baskets, off trees, through snow and mud, etc.
I've even found some Expo dry-erase markers remain embedded in DX plastic. There are so many combinations, though, that TRYING IT OUT is the only way you will really know what ink adheres and lasts on what plastic.
I do find that Sharpie requires several applications- the ink appears to remain on the surface of premium style plastics. As you push the tip around, it moves the ink with it, leaving clear marks of where your tip has been. LEt the ink cure, and re-color with even strokes in the same direction to avoid that "scribbled on" look as much as possible.
We have a regular "event" at our local course (Valmont, in Boulder, CO) every Saturday at Noon. I try to scrounge up cheap/found discs that I ink up for the prize each week. I'll see if I'm clever enough to provide an example:
This disc went home with a guy who threw 7 under for the day.
Keep trying, you never know what you will do to amaze yourself and your friends!