For print work, I would extend David's advice to say don't ever pick ANY color on your computer screen unless you have gone to the trouble and expense to color correct your monitor and the lighting in your studio.
Pantone makes Color Bridge fans (coated and uncoated) that show many of the Pantone colors next to CMYK approximations of them. Not all Pantone colors can be replicated with CMYK so there are far fewer colors in Color Bridge than are avilalbe from Pantone. The Color Bridge fans cost a little over $200US but are also available used at places like eBay and Amazon. Be aware that the age of the fan—if you buy used—affects the color of the swatches because paper changes color with age. Here is a link to a pdf representation of the Color Bridge fan “leaves” set up side by side into pages. Not sure how old this is. New Color Bridge fans many have more colors.
https://www.purplelemongraphics….._Chart.pdf
There are also printed books of CMYK colors that gradually increase each ink color in little squares. An example is “Process Color Manual” by Pat and Michael Rogondino. It shows 24,000 CMYK combinations. Again, if you buy used, the age of the book affects the color of the swatches.
Here is a link to an RGB CMYK chart. Not sure how it's organized because it's definitely not a set of gradually changing colors, it's a big striped ribbon in no discernable order (to me). You might be able to find your RBG color in it, which would give you a starting point to finding a CMYK approximation.
https://www.logoorange.com/colo…..-chart.php
No printed CMYK color will be vibrant like the colors you see on screen because your screen is creating those colors with beautiful bright light.