Learning color is absolutely another example of learning from those who have no access to your private experience.
Note that, in learning color, we do have a publicly available referent, which is easily agreed upon. Even though you and I do not know, and cannot know, that our experience is the same, we both label the same things "red" or "green" or "shade 1426 in this booklet". We literally cannot know what our perceptions are, and so the only thing we can agree on is that we, behaviorally, label this particular thing "red". Our own personal, subjective experience, is more accurately described by this external thing. It is, after all, how we learned to label our internal experience. Because of this, "red" is the public thing that we all agree to call red, whether or not it is the exact same for you and me.