You erase with the rubber tip that is at the back of the pen. The heat generated by the friction is what causes it to be erased.
But since it is erased by heat, it generally applies. A warm car, in the sun, underfloor heating etc can give the same result. You can bring out the deleted by adding cold, to put in the freezer. But remember that everything deleted will come back!
Tip is that children usually think it's great fun with secret messages with just write delete, put in freezer.
Erasable FriXion pens are also available as ball point model and finelines.