Any design should make sense in black and white and color should be the cherry on top.

Handicapped accessibility guidelines mandate specific contrast ratios but even normally sighted people see better resolution for changes in values than changes in hue and saturation. That is built into many video standards. So if you want to make the best of your eyes and the reproduction chain, do it!

Ansel Adams popularized a "zone system" to get the most out of photography but some of the best illustration pays close attention to value. I've made a bunch of receipt printer prints of Pokémon characters and they look great printed on a bad printer because they were designed that way.