Here's my method...
I use the weathering powders from MMP (www.modelmakerproducts.com), and they're really fine ground chalks (I guess)...I tend to think they're colored talc...
If you want dust, apply them normally...if you want caked-on or heavy mud, dip a brush into a puddle of Future Floor Wax, dip it into the powder, and dab it onto the model. The Future acts as a binder and causes the powder to lump up a bit. If you want a thin layer, simply wipe the excess off with the brush using the same front to back motion a moving leg would simulate. This makes the streaks more realistic. When the Future dries, it holds the powder in place. Hit it with some Dull-cote to lessn the sheen on the Future if you want dried mud. The powders will change colors when they're mixed with the Future...medium Earth goes almost to burnt umber...but once it dries, it reverts back to its original shade.
It also works really well for heavily rusted steel or iron, any place you want a rough textured surface.
Jeff