Personally I usually use either rustoleum gloss black or valspar gloss black depending on where i'm purchasing the product.
You can go to a local auto parts store and buy a couple cans of color match paint if you want a color matched bumper to your body, or to parts of the bumper.
not a great photo, but here is a photo of how I painted my fenders. The black tubes are valspar and the silver is color matched paint from O'reillys It doesn't match 100%, but it's pretty close. Just a few thoughs. I'm going to be building a new bumper with as stinger and a grill hoop, and I plan on making the base of the bumper black with the tubes color matched.