There doesn't appear to be a direct way of including a color-coded legend in a PlantUML diagram, but I figured out a workaround which is close enough.
- Declare classes 
TypeA, TypeB, TypeC inside a package LEGEND. 
- Hide the circle, methods and members for each class.
 
- Attach "hidden" connectors between the classes.
 
package LEGEND <<Rect>> { ' Draw the LEGEND "package" as a rectangular box.
class TypeA as "Type A Class" #LightRed
hide  TypeA circle
hide  TypeA methods
hide  TypeA members
class TypeB as "Type B Class" #LightBlue
hide  TypeB circle
hide  TypeB methods
hide  TypeB members
class TypeC as "Type C Class" #LightGreen
hide  TypeC circle
hide  TypeC methods
hide  TypeC members
' Workaround to prevent PlantUML from positioning the legend blocks randomly.
TypeA -[hidden]- TypeB
TypeB -[hidden]- TypeC
}
Alternatively, the "hidden" connectors could be replaced with -r-, like so:
TypeA -r- TypeB
TypeB -r- TypeC
These produces the following diagrams. Neither one is perfect, but better than drawing the legend separately in image editor. :-) I do hope PlantUML offers direct support for this in a future release. 
