黒[くろ] can work as an adjective, as in 黒髪[くろかみ]; "black hair", 黒猫[くろねこ]; "black cat". However, its nuance is often different from 黒い. 黒い just a description of a thing, but 黒 is often used for a specific usage. For instance, 黒い砂糖[さとう] simply means "black sugar/sugar whose color is black", whereas 黒砂糖[くろざとう] refers to "muscovado". I don't know about the anime/manga 黒執事[くろしつじ], but it might be from 黒魔術[くろまじゅつ] or "black magic", just my impression.
It's not just "yellow seven/seven whose color is yellow" but more likely "seven in the yellow group/area". That's why の is used here.