Get the bulk off with a knife or spoon as was said. Then I would hang it outside and let the birds and bugs strip off all the flesh that you can't get off yourself. Just make sure you keep an eye on the antlers lest something run off with them.

I would say boil it for a while then scrape of some meat and keep boiling and cutting of some stuff until all of it is off but don't over boil the bones get VERY fragile if you boil it too long. and don't forget the brains mix them up and try to dump them out.

Find a big ant hill on your property, pound a long stake in next to it deep, wire around the antler, wire around the stake, quickly bury the skull in the ant hill and cover quickly. come back in a couple months and you'll be surprised how clean it is. Fire ants work best but be careful!

Use an old spoon you don't care about anymore. That should be good for scraping.

I don't have a pot big enough for my antlers. What to do next?

Take out the brain then boil it and the excess tissue should fall out with a screw driver.

Stutzman is correct.

Here are a couple more tips.
Do not boil the skull too long or the skull bones will become soft and seperate. I boil mine at a low heat for about 6-8 hours.

The brain will come out with a little help from a screwdriver.

Don not use bleach. It will turn your skull yellowish. Use peroxcide.

After I get all the tissue and hide off Skulls with knife, plyers, hemostats I'll let the it soak for a day or so then take to the local car wash and spray with high pressure water, this will remove most of the clingly tissue. Then soak in peroxide