Using iTerm2 on macOS here, and I don't think it's as predictable or reliable 
as one would like, but, for the record, here's a possible approach:

julia> using Colors

julia> function print_rgb(col, t)
           colr = lowercase(hex(parse(Colorant, col)))
           println(colr)
           print("\033]Pg$(colr)\033\\", t)
       end

julia> print_rgb("yellow", "hi there")

and this changes all foreground text to yellow. (The "g" after the "P" changes 
the foreground color.) These escape codes are proprietary to iTerm, though.

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