Since iOS 14, you can get a human readable localised name for a UIColor, with a very useful property called accessibilityName, that you can use in accessibility attributes like labels or values. How cool is that?

https://developer.apple.com/documentation/uikit/uicolor/accessibilityname

iPad app for drawing sketches. It has a tool panel. The selected tool is a pen with the yellow color. There are some predefined colors to choose from. The fifth one is red. Using the accessibilityName from UIColor, we could configure an accessibility value for the pen, so VoiceOver would announce something like: