Concur with Paul. Unless they pre-painted the kid's "canvas" with semi-gloss or gloss paint, it is unlikely that any product is going to completely remove the expressions of the artists without leaving some sort of visible difference between the "canvas" and the surrounding surface. Priming and painting may be your only reasonable solution.
Goof off for crayons...they are wax based. regular soap for chalk. the magic eraser my be a bit too aggressive and remove some paint...so use carefully.
I just did this to our rental a few months ago...but for me since we had some paint, painting was much faster and easier...and in the long run looks better.
Katy, it's unlikely you'll be satisfied with trying to clean. But you can try warm soap and water to see if some would come off. Denatured alcohol and Goof Off achieve some results cleaning up oil base painted surfaces but are pretty aggressive for use on normal latex wall paint, so use with care and an open window. It sounds like that mess is a place!
I just did this to our rental a few months ago...but for me since we had some paint, painting was much faster and easier...and in the long run looks better.
Best, Charles