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foreach $products (@{$file->{product}})    {
    print "Widget: " . $products->{title} ." \n";
...
    print "  Cost: " . $products->{cost} . "\n";
    print "Colors: " . join(', ', @{$products->{color}})."\n\n";
}

<shelf>
    <product>
...
        <color>white</color>
    </product>
</shelf>

<shelf>
    <product>
...
        <color>orange</color>
    </product>
</shelf>

sub list {
   if (defined(ref($_[0])) && ref($_[0]) eq 'ARRAY') {
...
    print "  Cost: " . $products->{cost} . "\n";
    print "Colors: " . join(', ', list($products->{color}))."\n\n";
}