What a fantastic idea! If you are familiar with educator Rick Morris, then you are probably already a big fan of the number system for your class roster. Whether you have 25 or as many as 36 students, this system is a must for a teacher's sanity. So go ahead and just apply the number system to your pencils. Clear address labels work just fine. Make a label for each student and number the pencils 1-36 (or however many students you have). Then when a student borrows a pencil from you give him the one with his assigned number. This would even be an easy task for an at-home parent helper.
Keep a numbered set for RTI or ELD rotations too.