Couple of ways to do it ...
1) Tamiya makes some paint called "Smoke". It's very translucent black, almost transparent, and works great if you have an airbrush.
2) Get some plain old artists chalk from any art store. Don't get the greasy, waxy kind just the plain old hard chalk. Rub it across a piece of sandpaper to make dust, then use a paintbrush to paint it onto your model. This works best on a flat surface because it will rub right off of a glossy surface.