Colorado does not appear to have a statutorily defined procedure for emancipation. It recognizes emancipation in its statutes:
Quote Quoting Colorado Code 19-1-103. Definitions
(45) "Emancipated juvenile", as used in section 19-2-511, means a juvenile over fifteen years of age and under eighteen years of age who has, with the real or apparent assent of the juvenile's parents, demonstrated independence from the juvenile's parents in matters of care, custody, and earnings. The term may include, but shall not be limited to, any such juvenile who has the sole responsibility for the juvenile's own support, who is married, or who is in the military.
It thus appears that a Colorado court will recognize a minor as emancipated, but without a statute it's difficult to suggest the procedures, but as seniorjudge suggests the statute anticipates that any minor who is not married or in the military should be self-supporting as a condition of becoming emancipated, and would have parental consent.