Finally figured out that while you can set each of the R/G/B colors from 0-255, each of the colors are really just on or off, so sending a 1 or 0 for each color suffices. I don’t need an entity for the light in HA, I just set it in automations, so I got it wired up in NodeRed sending the zwave_js set_value command. Here’s a dump of the node-red config:
[{"id":"7b0becb9.bc8374","type":"api-call-service","z":"2181a3f5.c73f6c","name":"","server":"73766d51.ce4224","version":3,"debugenabled":false,"service_domain":"zwave_js","service":"set_value","entityId":"binary_sensor.night_light_home_security_motion_detection_location_provided","data":"{\t \"command_class\":51,\t \"endpoint\":0,\t \"property\":\"hexColor\",\t \"value\":payload\t}","dataType":"jsonata","mergecontext":"","mustacheAltTags":false,"outputProperties":[],"queue":"none","x":590,"y":980,"wires":[[]]},{"id":"34862d9d.3ee2a2","type":"inject","z":"2181a3f5.c73f6c","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"black","payloadType":"str","x":110,"y":920,"wires":[["7fc51df7.fef104"]]},{"id":"7fc51df7.fef104","type":"function","z":"2181a3f5.c73f6c","name":"Color to RGB","func":"// RGB color in HEX\nswitch (msg.payload) {\n case 'black' : msg.payload = '#000000'; break;\n case 'white' : msg.payload = '#010101'; break;\n case 'red' : msg.payload = '#010000'; break;\n case 'green' : msg.payload = '#000100'; break;\n case 'blue' : msg.payload = '#000001'; break;\n case 'aqua' : msg.payload = '#000101'; break;\n case 'pink' : msg.payload = '#010001'; break;\n case 'yellow' : msg.payload = '#010100'; break;\n}\nreturn msg;","outputs":1,"noerr":0,"initialize":"","finalize":"","libs":[],"x":370,"y":980,"wires":[["7b0becb9.bc8374"]]},{"id":"68096279.c230fc","type":"inject","z":"2181a3f5.c73f6c","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"white","payloadType":"str","x":110,"y":960,"wires":[["7fc51df7.fef104"]]},{"id":"b60be33b.19509","type":"inject","z":"2181a3f5.c73f6c","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"red","payloadType":"str","x":110,"y":1000,"wires":[["7fc51df7.fef104"]]},{"id":"bc103ac4.699918","type":"inject","z":"2181a3f5.c73f6c","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"green","payloadType":"str","x":110,"y":1040,"wires":[["7fc51df7.fef104"]]},{"id":"1471617.b84e79f","type":"inject","z":"2181a3f5.c73f6c","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"blue","payloadType":"str","x":110,"y":1080,"wires":[["7fc51df7.fef104"]]},{"id":"fed81087.1fede","type":"inject","z":"2181a3f5.c73f6c","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"aqua","payloadType":"str","x":110,"y":1120,"wires":[["7fc51df7.fef104"]]},{"id":"68ed4b2f.7b7744","type":"inject","z":"2181a3f5.c73f6c","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"pink","payloadType":"str","x":110,"y":1160,"wires":[["7fc51df7.fef104"]]},{"id":"1da8330.dd4c7cd","type":"inject","z":"2181a3f5.c73f6c","name":"","props":[{"p":"payload"},{"p":"topic","vt":"str"}],"repeat":"","crontab":"","once":false,"onceDelay":0.1,"topic":"","payload":"yellow","payloadType":"str","x":110,"y":1200,"wires":[["7fc51df7.fef104"]]},{"id":"73766d51.ce4224","type":"server","name":"Home Assistant","legacy":false,"addon":true,"rejectUnauthorizedCerts":true,"ha_boolean":"y|yes|true|on|home|open","connectionDelay":true,"cacheJson":true}]