There is no such settings / feature at this time..
First, Android 4.* automatically darkens status bar icons, and there is no way to turn it off.
Second, there is no way to draw those status bar icons on the fly, adding color -- and I'm sure everyone using custom account colors (for account view, etc.) would want the colors to match.
This would leave me with a fixed set of colored icons, and open to questions on how to match the colors....