Videos
I believe that it is mostly a matter of personal taste whether you should use RGB or HEX. Personally I use HEX, because it feels more convenient - it is easier to scan when reading the code and easier to copy from your preferred image editor. Also for colors like white (#fff), black (#000) it could save you a few bytes (not that it would make much difference though).
In the end it is really just two different representations of the same thing, and from a performance perspective I don't think it matters. At least there are loads of other things you can do to increase performance, that will have a greater impact on performance.
Typically, you can copy a hex value from a graphics editor directly — from a single text field. For RGB, you can’t: RGB values are usually represented via three separate text fields. So hex values are at least easier for everyday use.
But there was no way for a while to use hex notation for values with alpha transparency, so we were forced to use RGB notation via the rgba() function.
The CSS Color Module Level 4 draft spec adds the 8-digit hexadecimal notation #RRGGBBAA and #RGBA: e. g. #00ffaa80 is equivalent to rgba(0, 255, 170, .5). The feature is available in Firefox 49+, Chromium 62+ and Safari 10+ (WebKit bug), but neither in IE nor in Edge. According to caniuse, such notation is supported by 75% of browsers, so it probably cannot yet be used in the wild, though can be used in browser add-ons.