Joanna Penn is a successful author who has self-published and shares her thoughts about this – read her webpage about this at http://www.thecreativepenn.com/publishing/: I’m recommending this page as it is a kind of portal page with lots of links to online resources. A comparison of publishing a full-colour hardback with CreateSpace or IngramSpark is at https://emikopetersonyoon.com/tag/createspace/. Please do read these pages and any others on the internet so that you fully understand the different routes. Reading around will also help you understand what level of tolerance you have to control versus cost!
When doing your research, make sure you keep up-to-date, for example, a useful ebook might be How To Choose A Self Publishing Service 2016: A Writer’s Guide from The Alliance of Independent Authors, by Giacomo Giammatteo and Orna Ross (available on Amazon). I haven’t read this particular book myself but the reviews of it look good.
If it’s been a while since you published your last book, then it’s worth scouting around the internet again as this is an ever-changing area with new possibilities appearing all the time.