If the ink you had on your hand would form a barrier from the water reaching the skin, then yes, you must repeat that Salah and wudu after removing such a barrier.
Parts of Wudhu must be Taahir during performing Wudhu. If blood was flowing during performing Wudhu from a place of Wudhu, Wudhu will be then invalid, then Salah will be invalid.
If this foam substance covers any part of Wudu preventing water from reaching, then it becomes an obstacle and must be removed to perform a valid Wudu.
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