First, you may be able to save the load of clothes that went through.
I've had good results from washing (not drying!) the clothes about 6-7 times in a row (with a 60 minute or longer soak between each one) with lots of oxyclean. There's no change the first 4 times or so, but then things start to come out.
As far as getting it out of the dryer--where are the marks concentrated? All over the drum, or are there just several there and a lot of melted crayon near the edges and door?
The first thing you probably want to do is to unplug your dryer, and then take a blunt plastic knife (if you have any children's cutlery knives, they are good for this) and scrape off as much of the cooled, solified crayon as you can. Then mist down the drum and wipe away the crayon shavings with rags/paper towels. After that, it might be useful to get out a Magic Eraser (those Mr. Clean things). You probably want to use gloves since they can be really abrasive to your skin, and be sure to keep an eye on whether or not it's damaging the pain on the drum. Another alternative would be to use a scrubby sponge, but that will take a lot of elbow grease to get it done. Keep misting the drum with water and wiping it out. If it's a really bad case where the crayons weren't caught by the lint filter or didn't settle in the door and instead were totally melted into the drum...I hate to break it to you but it might be a couple-day project.
After you've gotten rid of almost all of the visible thick residue, get your household rags, moisten them up with hot water, and run the dryer on high (maybe with some extra towels that you don't care about). Hopefully the last of the residue will come off on the towels, but after you get the towels/rags out, unplug the dryer again and scrape and wipe again, since whatever's left will be softened. And then repeat, as necessary.
I'm soo sorry. Cleaning up dryer crayons is something I hate, I've done it multiple times though. You'll get a free workout for arms and abs, at least, but...man, what a pain. I'm sorry.