if [ -t 1 ]; then
eval "$(printf 'COLOR_ON="\033[31m" COLOR_OFF="\033[m"')"
else
COLOR_ON= COLOR_OFF=
fi
export COLOR_ON COLOR_OFF
awk '{print ENVIRON["COLOR_ON"] "prefix: " ENVIRON["COLOR_OFF"] $0}'
Or:
[ ! -t 1 ]
awk -v color="$?" '{
print((color ? "\033[31m" : "") "prefix: " (color ? "\033[m" : "") $0)}'