""" Dow Corning® 795 Silicone Building Sealant is a one-part, cold-applied, non-sagging silicone material that cures to a medium modulus silicone rubber upon exposure to atmospheric moisture. """

Don't know the exact details of Sugru's formulation. But per the data sheet this stuff sets up to be a relatively stiff non-tacky surface in three hours and comes in a variety of colors.

You can buy variants at your local home improvement store. It's usually sold as silicone caulk.