Yes, please take a look at this link from Atlassian -
Server/DC Env - https://confluence.atlassian.com/jirasoftwareserver/add-colors-to-issues-on-your-advanced-roadmaps-timeline-1044784269.html
Hope this helps.
Best, Joseph Chung Yin
Jira/JSM Functional Lead, Global Infrastructure Applications Team
Viasat Inc.
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