There is template option for footer text color:
In template_css.php:
.hotcopyright, .hotcopyright a, .footer_content ul.menu a, .footer_content, .footer_content div.moduletable h3, .copyright_area, .copyright_area_wrap, .copyright_area_wrap a {
color:<?php echo $footerText; ?> !important;
}
So if you use custom style you can simply change it from template options page. If you use pre-defined style you can edit variable value in styles/styleX.php where X is number of pre-defined style you use.
If you want to change only rapid contact colors use:
.rapid_contact FORM{
color:<you color>!important;
}
you can put it at bottom of template_css.php