I got a paint pen from this company. Chalk white. It looked terrible on the paint tester strip they provide. I went for it anyways figuring "eh what the ****, it's gotta be better than a big rock chip". Shockingly it matched completely on the car.
If you look at product reviews online though a lot of people HATE this product and its very hit or miss. I got lucky it sounds like, so buyer beware.
Touch Up paint is available from the dealer and will give you the closest match. Just open the drivers door and look for the paint code. Then either go online or into you locally Hyundai Parts Center and order it. It will come with; clear coat, paint and leveling/sanding pen. Keep in mind, most of the paint Hyundai utilizes is either a bi or tri color. Aftermarket companies do not mix the paint they provide so it will be either in two or three parts.