Due to the drop size variation of the print heads in inkjet printers, consistent color reproduction becomes challenge for high quality color printing. To improve the color consistency, we developed a method and system to characterize a pair of printers using a colorimeter or a color scanner. Different from prior known approaches that simply try to match colors of one printer to the other without considering the gamut differences, we first constructed an overlapped gamut in which colors can be produced by both printers, and then characterized both printers using a pair of 3-D or 4-D lookup tables (LUT) to produce same colors limited to the overlapped gamut. Each LUT converts nominal device color values into engine-dependent device color values limited to the overlapped gamut. Compared to traditional approaches, the color calibration accuracy is significantly improved. This method can be simply extended to calibrate more than two engines. In a color imaging system that includes a scanner and more than one print engine, this method improves the color consistency very effectively without increasing hardware costs. A few examples for applying this method are: 1) one-pass bi-directional inkjet printing; 2) a printer with two or more sets of pens for printing; and 3) a system embedded with a pair of printers (the number of printers could be easily incremented).