Not all colors mentioned in the ZDoom Wiki are supported in ZDaemon. The following tables show which are and which aren't as of ZDaemon 1.10b07.

See: http://zdoom.org/wiki/Print

See: http://zdoom.org/wiki/HudMessage
See: https://github.com/rheit/acc/blob/master/zdefs.acs (for IDs)

Unsupported colors seem to print as if CR_UNTRANSLATED was used.

colors.acs

#library "colors"
 
#include "zcommon.acs"
 
script 1 (void) {
	Log(s:"\careddish brick");
	Log(s:"\cbtan");
	Log(s:"\ccgray");
	Log(s:"\cdgreen");
	Log(s:"\cebrown");
	Log(s:"\cfgold");
	Log(s:"\cgred");
	Log(s:"\chblue");
	Log(s:"\ciorange");
	Log(s:"\cjwhite");
	Log(s:"\ckyellow");
	Log(s:"\cloriginal colour");
	Log(s:"\cmblack");
	Log(s:"\cnlight blue");
	Log(s:"\cocream");
	Log(s:"\cpolive");
	Log(s:"\cqdark green");
	Log(s:"\crdark red");
	Log(s:"\csdark brown");
	Log(s:"\ctpurple");
	Log(s:"\cudark gray");
	Log(s:"\c-print default");
	Log(s:"\c+printbold default");
	Log(s:"\c*chat default");
	Log(s:"\c!teamchat default");
}
 
script 2 (void)
{
	HudMessageBold(s:"CR_UNTRANSLATED"; 0, HUDMSG_PLAIN, CR_UNTRANSLATED, 0.5, 0.00, 0);
	HudMessageBold(s:"CR_BRICK"; 0, HUDMSG_PLAIN, CR_BRICK, 0.5, 0.04, 0);
	HudMessageBold(s:"CR_TAN"; 0, HUDMSG_PLAIN, CR_TAN, 0.5, 0.08, 0);
	HudMessageBold(s:"CR_GRAY"; 0, HUDMSG_PLAIN, CR_GRAY, 0.5, 0.12, 0);
	HudMessageBold(s:"CR_GREY"; 0, HUDMSG_PLAIN, CR_GREY, 0.5, 0.16, 0);
	HudMessageBold(s:"CR_GREEN"; 0, HUDMSG_PLAIN, CR_GREEN, 0.5, 0.20, 0);
	HudMessageBold(s:"CR_BROWN"; 0, HUDMSG_PLAIN, CR_BROWN, 0.5, 0.24, 0);
	HudMessageBold(s:"CR_GOLD"; 0, HUDMSG_PLAIN, CR_GOLD, 0.5, 0.28, 0);
	HudMessageBold(s:"CR_RED"; 0, HUDMSG_PLAIN, CR_RED, 0.5, 0.32, 0);
	HudMessageBold(s:"CR_BLUE"; 0, HUDMSG_PLAIN, CR_BLUE, 0.5, 0.36, 0);
	HudMessageBold(s:"CR_ORANGE"; 0, HUDMSG_PLAIN, CR_ORANGE, 0.5, 0.40, 0);
	HudMessageBold(s:"CR_WHITE"; 0, HUDMSG_PLAIN, CR_WHITE, 0.5, 0.44, 0);
	HudMessageBold(s:"CR_YELLOW"; 0, HUDMSG_PLAIN, CR_YELLOW, 0.5, 0.48, 0);
	HudMessageBold(s:"CR_BLACK"; 0, HUDMSG_PLAIN, CR_BLACK, 0.5, 0.52, 0);
	HudMessageBold(s:"CR_LIGHTBLUE"; 0, HUDMSG_PLAIN, CR_LIGHTBLUE, 0.5, 0.56, 0);
	HudMessageBold(s:"CR_CREAM"; 0, HUDMSG_PLAIN, CR_CREAM, 0.5, 0.60, 0);
	HudMessageBold(s:"CR_OLIVE"; 0, HUDMSG_PLAIN, CR_OLIVE, 0.5, 0.64, 0);
	HudMessageBold(s:"CR_DARKGREEN"; 0, HUDMSG_PLAIN, CR_DARKGREEN, 0.5, 0.68, 0);
	HudMessageBold(s:"CR_DARKRED"; 0, HUDMSG_PLAIN, CR_DARKRED, 0.5, 0.72, 0);
	HudMessageBold(s:"CR_DARKBROWN"; 0, HUDMSG_PLAIN, CR_DARKBROWN, 0.5, 0.76, 0);
	HudMessageBold(s:"CR_PURPLE"; 0, HUDMSG_PLAIN, CR_PURPLE, 0.5, 0.80, 0);
	HudMessageBold(s:"CR_DARKGRAY"; 0, HUDMSG_PLAIN, CR_DARKGRAY, 0.5, 0.84, 0);
	HudMessageBold(s:"CR_DARKGREY"; 0, HUDMSG_PLAIN, CR_DARKGREY, 0.5, 0.88, 0);
	HudMessageBold(s:"CR_CYAN"; 0, HUDMSG_PLAIN, CR_CYAN, 0.5, 0.92, 0);
}