You can find them by using one of those services:
Remember, the HEX Color Codes look like this: #385D9B but if you wanted to use this color with the background feature of pdf2lp you would only use the part without "#" (&bg=385D9B):
http://pdf2lp.net/result.php?v=4824f269ecffc274aed01cbf3d0fe99484b02a38&bg=385D9B