It depends what exact color it is you are trying to match. I matched the color of the tan roof light/sunglass holder almost perfectly with SEM Color Coat Saddle Tan, but the tan interior uses multiple shades of tan and brown. You don't really need to match it exactly; there are enough tones there already that if it is slightly off, you won't notice.
I have had very good results from the SEM Color Coat. It is pretty durable, but then again, I don't touch it much as it is on the roof console. The SEM color coat is designed specifically for these vinyl interior pieces, so it should be a good bet.
There was one guy that went super in depth dying his interior black. He baked the plastics til they sweat to soak the dye in, but I don't think you want to do that much work.