Routine complex media (LB broth, Terrific broth etc) have a light to medium amber color coming from the use of tryptone and yeast extract, which at the same time provide a rich environment and allow for quick doubling times. If you’re looking for clear and colorless media I would try out a defined medium such as M9 minimal medium (which has very low absorbance and autofluorescence) and supplement it with a carbon source (depending on strain requirements) as well as nutrients (salts, vitamins, specific amino acids, other metabolites depending on the genotype of your bacteria) to boost bacterial growth.  M9 minimal medium supplemented with glucose (or glycerol), calcium and magnesium would be clear and colorless and produce reasonable doubling times for “wild-type” strains (although probably not as short a doubling time as with a complex medium).

You can find a protocol for preparing M9 medium in “Molecular cloning: a laboratory manual” by Sambrook, Fritsch and Maniatis, or in the Appendix 4A of Current Protocols in Microbiology on “Common bacterial culture techniques and media”.

Also have a look at a work by Paliy and Gunasekera on the “Growth of E. coli BL21 in minimal media with different gluconeogenic carbon sources and salt contents.” (Appl. Microbiol. Biotechnol.  (2007) 73(5), 1169-72). In this work Paliy and Gunasekera compare growth rates for bacteria in M9 minimal media differing in carbon sources (glycerol, pyruvate etc) or salts and found out, for example, that the addition of bivalent iron (as ferrous sulphate) increased the growth rate of E. coli cultures.