I believe that using Frixion[1] pens you can erase the ink (more precisely, it becomes transparent) by applying heat to it.
This is usually done by rubbing the written area with the "eraser" at the top of the pen, but I think you can do a bulk erase (before reselling/donating the book, for example) by placing it in a microwave oven.
Anyone has done this/can provide feedback?