Painting polyurethane caulking

Sorry to make this confusing. Basically there is a compartment accessible from the outside that is under the bed. Below the compartment is the bottom corner of the rv sort of like a side skirt that drops below the frame and floor. The side skirt is the one that is gone to wood chips which is where I sprayed the spray foam. The compartment is solid though and seems to be fine as does the floor in that section. I beleive the leak may have been coming from where the section of siding meets the top section. At any rate I put polyurethane on this seam and all seams of the motorohome and I'm looking to see what paint I can use so that it does not look as bad once the caulking cures. Whatever I paint I go with I wish to color Match to the motorhomes siding.