Here's how I fixed my HP Envy - Win10 Laptop.
On laptop, open Control Panel window ( Windows System - Control Panel )
Double click "Devices and Printers"
Double click "HP ENVY 5540 series"
Double click "Customize your printer" - a window should open for the printer properties.
Click the "Colour Management Tab
Click the "Colour Management Button
On the new window, selectfrom the drop down menu "Printer: HP ENVY 5500 series".
In the "Profiles associated with this device", you will provably see an empty box.
Press "Add" button
Click on the profiles you want to add - I clicked on "sRGB IEC61966-2.1" for both "ICC Profiles" and for I"CC Profiles (Advanced Colour)"
Close/OK windows.
Printer now prints in colour.