Allowing users to customize theme's colors

My apologies if this is the wrong section for this topic.

I’m creating a WP template that will (hopefully) be up for download in the future. My goal is to make the theme as easy to customize as possible. I was able to implement the Theme Options section for Logo Upload, Header, Background, etc. However, I’m not quite sure how to go about allowing users to choose a general color scheme for their new template.

Ideally, the color scheme selector would work in the way the Background selector works when it allows you to select a background color from a color picker. Is there any way to implement something similar, in which users can choose a single color and have that color apply to designated div and link classes?

Any help is appreciated. Thank you!