$wp_customize->add_setting('themeslug_color_id', array(
'default' => '#39C',
'transport' => 'refresh',
'sanitize_callback' => 'sanitize_hex_color',
));
$wp_customize->add_control(
new WP_Customize_Color_Control(
$wp_customize,
'themeslug_color_id',
array(
'label' => esc_html__('Text Color', 'themeslug'),
'section' => 'themeslug_section_id',
'setting' => 'themeslug_color_id',
) ) );Usage
<h1 style="color:<?php esc_html_e( get_theme_mod( 'themeslug_color_id' ))?>"> Hello World </h1>