Which Humbrol paint color is most historally accurate for use on African Theater German tanks?
While not exact matches, 63 Sand is good for the 1941 color, and 94 Yellow Brown is good for the 1942 shade. Under typical dusty desert weathering, they will look fine.
Thank you! 
For the future,download one of those hobby paint conversion Apps,they are helpful for this type of stuff too.
Do they tell what paints are good for historical accuracy?
Not really. That is usually a case of somebody comparing actual paint chip samples to hobby paint samples. And the truth is that once a painted item goes into service, it weathers depending upon conditions and time in service. And the paint will not look like a new paint chip. So you have some wiggle room.
Thanks, guys.