There is no simple solution to this. Monitors and printers have widely different gamuts (color ranges) and the differences in color spaces (CMY, CMYK, RGB etc.), inks, papers and display technologies make precise matching essentially impossible. There is no way that red, green, and blue dots on a backlit transparent panel can be matched by cyan, yellow, magenta and black dots of ink an an opaque reflective surface.
The best approach I can recommend is like choosing the prismacolors you like to use in your hand renderings. Find colors you like, run test prints on all the printers you expect to use (remember to find and stick with one or two papers that you like) and adjust the colors as necessary to come up with the best compromise you can. This pursuit can occupy a tremendous amount of time so get it to where it's acceptable and go with it.
