To precisely match the color of a drawing or shape to another element in your document, use the "Eyedropper" tool available in the color selection menus for both fill and outline colors. When you select the "Eyedropper" tool and hover over any part of your document, it will capture the exact color under the cursor. Click to apply this color to your selected drawing or shape. This tool is invaluable for maintaining a consistent color scheme throughout your document.