I highly recommend the WAM as well. Looks way more natural( because it is) than any paint or stain. Brings out the natural grain of the antlers. You will be impressed with the results. The process is quite messy, though.
You could also use a combination of dirt and assorted brush, wood chips, etc. Try it on a shed or two first to see if you like it. Make mud with it and start rubbing! Rub it into the antlers until they are completely covered, then rub off with a brush after they dry. I use a fine wire brush in either copper or steel.
Once you have it all cleaned off, spray with a clear coat. Krylon Crystal Clear in the Satin or Matte finish works best. Like I said, experiment first with a couple of sheds. Pretty sure you'll like the results.