Me and a buddy did a couple of deer skulls last fall, they turned out really good. We put a big pot on the bbq outside, then boiled the skull for 1 hour, then used a pressure washer to remove any meat/gristle (and the brains wash right out), then put back in the pot for 20-30 minutes and another wash with the pressure washer, at this point all tissue will be gone.
We tried 2 methods of bleaching, both worked well. One we painted with cheap hydrogen peroxide 5-6 times, let dry overnight, and is done. The other we soaked in a pot of 50/50 bleach/water, being careful not to get the antlers into the bleach mixture, use paper towel to cover the the top of the skull near the antler bases as it will be out of the bleach water. Soak for 20-24 hours, then let dry.