Either the expensive Dulux RealLife stuff, or (cheaper) one that says something like 'Wipeable, for Kitchens and Bathrooms', or (cheapest but hard to find) specialist scrubbable latex paint meant for schools, industrial kitchens etc.
We made this mistake - used normal emulsion as we thought the exact shade of cream was more important. Looked great for about two weeks and is now scuffed to buggery. Repainting next summer.