diff --git a/apps/overlay/src/index.html b/apps/overlay/src/index.html
index e68e88c..9835117 100644
--- a/apps/overlay/src/index.html
+++ b/apps/overlay/src/index.html
@@ -148,6 +148,30 @@
   .setting-row input[type="color"]::-webkit-color-swatch-wrapper { padding: 2px; }
   .setting-row input[type="color"]::-webkit-color-swatch { border: none; border-radius: 2px; }
 
+  /* Text entry beside each color swatch (#91): type a hex (#RGB / #RRGGBB) or
+     rgb(r,g,b) value instead of using the native picker. The swatch and text
+     field stay in sync. */
+  .color-combo { display: flex; align-items: center; gap: 6px; }
+  .color-text {
+    width: 78px;
+    background: rgba(255,255,255,0.08);
+    color: #eee;
+    border: 1px solid rgba(255,255,255,0.12);
+    border-radius: 4px;
+    padding: 3px 5px;
+    font: 11px ui-monospace, Consolas, 'Courier New', monospace;
+    text-transform: lowercase;
+  }
+  .color-text:focus { outline: none; border-color: #3388ff; }
+  .color-text.invalid { border-color: #ff5555; color: #ff9999; }
+  /* Grouped color rows (Roll / Axis): label on its own line, then a full-width
+     row of swatch-over-text cells so all three fit the narrow panel. */
+  .setting-row.color-row-stacked { flex-direction: column; align-items: stretch; gap: 6px; }
+  .color-group { display: flex; gap: 8px; }
+  .color-group .color-combo { flex: 1; min-width: 0; flex-direction: column; gap: 3px; align-items: stretch; }
+  .color-group .color-combo input[type="color"] { width: 100%; }
+  .color-group .color-text { width: 100%; text-align: center; }
+
   .setting-row input[type="checkbox"] {
     width: 14px; height: 14px;
     accent-color: #3388ff;
@@ -1020,9 +1044,9 @@ <h3>Window Display</h3>
     <label>Show Roll HUD</label>
     <input type="checkbox" id="show-roll-hud" autocomplete="off">
   </div>
-  <div class="setting-row">
+  <div class="setting-row color-row-stacked">
     <label title="Roll HUD needle/label colors by lean band (near-center / mid / high lean).">Roll Colors (Normal / Mid / High)</label>
-    <span style="display:flex; gap:4px;">
+    <span class="color-group">
       <input type="color" id="lean-color-normal" value="#ffffff" title="Normal (near center)">
       <input type="color" id="lean-color-mid" value="#ffaa22" title="Mid lean">
       <input type="color" id="lean-color-high" value="#ff4444" title="High lean">
@@ -1036,9 +1060,9 @@ <h3>Window Display</h3>
     <label>Show Axis HUD</label>
     <input type="checkbox" id="show-axis-readout">
   </div>
-  <div class="setting-row">
+  <div class="setting-row color-row-stacked">
     <label title="Per-axis colors for the Pitch / Roll / Yaw readout.">Axis Colors (Pitch / Roll / Yaw)</label>
-    <span style="display:flex; gap:4px;">
+    <span class="color-group">
       <input type="color" id="axis-color-pitch" value="#44dd66" title="Pitch">
       <input type="color" id="axis-color-roll" value="#ee4455" title="Roll">
       <input type="color" id="axis-color-yaw" value="#4488ff" title="Yaw">
diff --git a/apps/overlay/src/js/app.js b/apps/overlay/src/js/app.js
index e3dd28d..593cfe2 100644
--- a/apps/overlay/src/js/app.js
+++ b/apps/overlay/src/js/app.js
@@ -2236,6 +2236,68 @@ function applyGreenScreen() {
 greenScreenToggle.addEventListener('change', applyGreenScreen);
 greenScreenColorInput.addEventListener('input', applyGreenScreen);
 
+// ── Type-a-color (#91) ────────────────────────────────────────────────────
+// Every color setting is a native <input type="color"> (swatch-only). Let the
+// user also type a value: accept hex (#RGB / #RRGGBB) or rgb(r,g,b) / rgba(...),
+// normalize to #rrggbb, and on a valid parse write it back to the swatch and
+// dispatch the swatch's 'input' event — so every existing per-picker apply +
+// persist handler runs unchanged. Picker→text sync keeps the field current when
+// the native swatch is used. Runs last so each swatch's value is already
+// initialized from localStorage before we mirror it into the text field.
+function normalizeColor(value) {
+  if (value == null) return null;
+  const v = String(value).trim().toLowerCase();
+  let m = v.match(/^#?([0-9a-f]{3}|[0-9a-f]{6})$/);
+  if (m) {
+    let h = m[1];
+    if (h.length === 3) h = h[0] + h[0] + h[1] + h[1] + h[2] + h[2];
+    return '#' + h;
+  }
+  m = v.match(/^rgba?\(\s*(\d{1,3})\s*,\s*(\d{1,3})\s*,\s*(\d{1,3})\s*(?:,\s*[\d.]+\s*)?\)$/);
+  if (m) {
+    const c = [m[1], m[2], m[3]].map(Number);
+    if (c.every((n) => n <= 255)) return '#' + c.map((n) => n.toString(16).padStart(2, '0')).join('');
+  }
+  return null;
+}
+
+function attachColorText(colorInput) {
+  const combo = document.createElement('span');
+  combo.className = 'color-combo';
+  const text = document.createElement('input');
+  text.type = 'text';
+  text.className = 'color-text';
+  text.spellcheck = false;
+  text.autocomplete = 'off';
+  text.setAttribute('aria-label', (colorInput.id || 'color') + ' hex or rgb value');
+  text.value = colorInput.value;
+  // Wrap the swatch: text field first, swatch second (CSS stacks them for the
+  // grouped rows). Moving the swatch in the DOM keeps its event listeners.
+  colorInput.parentNode.insertBefore(combo, colorInput);
+  combo.appendChild(text);
+  combo.appendChild(colorInput);
+
+  const commit = () => {
+    const hex = normalizeColor(text.value);
+    if (!hex) { text.classList.add('invalid'); return; }
+    text.classList.remove('invalid');
+    text.value = hex;
+    if (colorInput.value.toLowerCase() !== hex) {
+      colorInput.value = hex;
+      colorInput.dispatchEvent(new Event('input', { bubbles: true }));
+    }
+  };
+  text.addEventListener('change', commit);
+  text.addEventListener('keydown', (e) => { if (e.key === 'Enter') { commit(); text.blur(); } });
+  // Native swatch moved → reflect it in the text field.
+  colorInput.addEventListener('input', () => {
+    text.value = colorInput.value;
+    text.classList.remove('invalid');
+  });
+}
+
+document.querySelectorAll('#settings-panel input[type="color"]').forEach(attachColorText);
+
 // Camera presets — one selected at a time, used as calibration view.
 // Defaults to Top for every controller; the last-selected preset is persisted
 // (issue #70) so reopening the overlay restores the user's preferred view