Here are some quick ways to adjust stroke and fill color in Inkscape.
Select an object you want to change. Click on any color in the color palette at the bottom of the window to set fill color of the selection. Hold down the shift key and click on any color to set its stroke color.
Yeah, I knew that already, you say.
But did you know about the controls in the left corner of the status bar?
Click on the Stroke swatch, hold down the button and move the mouse around the window to select a stroke color.
Better yet, right click (or Command/Control click) to the right of the stroke swatch to summon a pop-up menu where you can choose stroke properties including units of measurement and stroke width.
Bonus Prize: While you’re down there, notice the Layer menu. This is a zippy way to select the current layer, with locking and visibility controls just to the left.