A great old fashioned trick to get lipstick out of school involves using hairspray. Spray the stain with the hairspray and let it sit for at least 10 minutes. Use a washcloth that has warm water on it to wipe away the stain. If it doesn't work the first time repeat the process and wash the item by hand with gentle dish soap.
I have used Avon's Skin so Soft, and it worked. Pour it on the stain, and dab away with a clean cloth. Launder as usual. You can also try dabbing with denatured alcohol, and then a Tide stain remover stick.