Hi Phil,
I have used Pout matters lip colouring, and aswell as easy to apply and remove, it smells like different fruits. It stays on for several days or even weeks depending, before fading.
Regular lipsticks stay on aswell, but have to be applied as mentioned or on their own, quite a lot and thickly.
I also use Micellar cleansing water. That removes make up, lipstick and anything including stains very effectively.
There isn't a make up or lipstick on the market that can't be removed unless you want to spend a small fortune on the pro make up the likes of Madame Tussauds uses
But cleansing water would remove even that, i bet