Does the appearance of an orange color after masturbating over underwear indicate damage to the hymen, especially given that nothing was inserted into the vagina and menstruation occurred the following day?

Since you have repented, we ask Allah to accept your repentance. As for what you saw, it may be the preliminary signs of menstruation. We advise you to cast away illusions and whispers (of doubt), and to live your life normally, having a good opinion of your Lord, the Exalted, and relying upon Him.