I discovered one needs to override the color change within each voice, rather than in the staff definition. Probably it's somewhere in the documentation, though I could not find it. Here is the working version:

\version "2.20.0"

upper = \relative c'' {
  \override Fingering.color = #red
  \clef treble
  \key g \major
  \time 3/4


a-1 cis' <e, a c e>\tuplet 3/2 {<c c'>8~<c c'> <c c'>}


}

lower = \relative c {
  \override Fingering.color = #red
  \clef bass
  \key g \major
  \time 3/4

<< { \override Fingering.color = #red f'1}-2\\{\override Fingering.color = #red r4. e32-1 cis-2 a-4 f-1 d2-2}>>



}

\score {
  \new PianoStaff <<
    \set PianoStaff.instrumentName = #"Piano  "
    \new Staff = "upper" \upper
    \new Staff = "lower" \lower
  >>
  \layout { }
  \midi { }
}



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