@quinnc44 I gotta disagree on the pencil eraser method. It just smears the mark around and leaves a weird gray residue behind. A damp microfiber cloth works way better for cleaning up those kinds of marks. The eraser trick might work for some stuff, but it creates more work for me in the end lol.
On my old wooden desk, I had this stubborn scuff mark from a shoe. I remembered @quinnc44 mentioning the pencil eraser trick, so I gave it a shot. It did lift some of the mark, but yeah, it left behind a gritty gray smear that was worse. What ended up working for me was a tiny bit of dish soap on a wet cloth, just rubbing it in circles. That took care of the smudge without any residue, and now the desk looks brand new. So for deep cleans, I skip the eraser and go straight for the soap and water method.