UIColorPickerViewController - iOS 14 - A view controller that informs your app about user interaction with the color picker.

UIColorPickerViewControllerSample.swift

import UIKit

class ViewController: UIViewController {

    override func viewDidLoad() {
        super.viewDidLoad()
    }

    @IBAction func btnColorPickerPressed(_ sender: Any) {
        let colorPickerVC = UIColorPickerViewController()
        colorPickerVC.delegate = self
        present(colorPickerVC, animated: true) {

        }
    }

}

extension ViewController : UIColorPickerViewControllerDelegate {

    func colorPickerViewControllerDidFinish(_ viewController: UIColorPickerViewController) {

    }

    func colorPickerViewControllerDidSelectColor(_ viewController: UIColorPickerViewController) {
        self.view.backgroundColor = viewController.selectedColor
    }

}