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I use Old English oil. It comes in dark and light wood. The color of the antlers will determin what color you want to use. Though you really can't go wrong with the light. Just wipe it on and let it set for an hour or so (do not get it on the skull) and than wipe it off read good with a dry rag.
Seems like I do it every 6 mos or so. It keeps them looking healthy. Its light enough that it doesn't "attract" dirt or stain your antlers. It reconditions the wood that is stuck in the burrs and makes them appear rich and dark or enhances the natural color versus changing the color. I really like it.
I shoot a clear matte finish on all my skulls and antlers. It gives them a nice satin look, seals and protects. I get it at the crafts store. It is non yellowing. It does a great job of sealing the skulls so dust and dirt won't stain it. It also makes it much easier to dust. I have been doing this for 20 years and they look as clean and white as the day that I did them.