There's probably umpteen ways to make mud Bernie.
Here's just a couple
Use real mud and brush it, splatter it, or cram it into the running gear.
That's the easy one and it does have surprising results.
Mix modelling putty, white glue, earth tone colour paint, bits and pieces of find sand, and just about anything else you want crammed in there. Apply to the lower portion of the vehicle and running gear.
Dry brush to highlight when complete.
Happy Modelling and God Bless
Robert