Yes. It's called Scott Specialized Color Guides for U.S. Stamps. However, it is out of print, so you'll have to search
Amazon,
ebay or sellers of out-of-print books. The last time I checked, it was priced around EUR50.
A classic in the field is "Encyclopedia of the Colors of United States Postage Stamps Volume I-IV," by R.H. White. It is also out of print but appears at auctions from time to time. Expect to pay EUR300 or more for a complete set.
Search this forum using "color guides" as terms - there are other threads on this.
Chris