What if you combined a color sensor, similar to those that are used in the color matching devices at paint stores, with color inkjet technology? And then made the whole package fit within the space envelope of a magic marker?
What you might get is Jinsun Park's concept for a single magic marker that draws all colors, the Color Picker! (HT: Core77)

We would suggest that a multi-colored pen box to provide a basic palette for the Color Picker would be an essential accessory to include with the product. Keeping with the theme, it would be really cool to incorporate a color LCD screen and sufficient memory to store all the colors the Color Picker samples in the pen box!
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