Sometimes Tableau has solutions to problems that can be solved with one (or half a dozen) clicks; adjusting the colour of labels is one such example. No calculations or searching in Format, just a click or four and it's done.
In the workbook below, the well-known data set 'Superstore' is used to create a bar chart.

The labels or marks are now black, pressing 'Label' in the Marks Card will open a drop-down menu. Then click on the arrows to the right of 'Font:...' and select 'Match Mark Colour'.
NB The box "Show mark labels" must be ticked.

Het eindresultaat is als volgt:

Changing the colour of labels is easy in Tableau. If you want to know more about the how and what of colours, this blog in the link might be interesting. For your own palette of colours(custom colours), see this link . For more tricks with labels, see this blog.