I highly suggest keeping a dream journal for it will help improve memory which is an important factor.

I also would suggest checking out Finnegan's article "LDD-Lucid Day Dream"
There is some great information in there.

My final suggestion would be try getting a blank sheet a paper and visualize or project the design on the paper as your drawing it, and with time and practice you'll get it.

Now in terms of color I have no idea. I've heard of people dreaming in black and white but not waking life memories. Since you say you dream in color perhaps try keeping that dj and maybe the color will pour over to waking life. Just my opinion.