Mr clean magic eraser
Use a little soft scrub and a scrubby.
Magic Eraser will do the job.
Have you tried a pencil eraser....that usually takes the rubber skid marks off a floor. As a last resort, I use Fantastik spray cleaner.
rub with sole of your rubber shoe or magic erasers
Some times you can just rub up with your finger. Otherwise Mr Clean or Barkeeper's Friend, and a scrubby.