We present the general theory of clean, two-dimensional, quantum Heisenberg antiferromagnets which are close to the zero-temperature quantum transition between ground states with and without long-range Néel order. While some of our discussion is more general, the bulk of our theory will be restricted to antiferromagnets in which the Néel order is described by a 3-vector order parameter. For Néel-ordered states, 'nearly-critical' means that the ground state spin-stiffness, ρ s , satisfies ρ s ≪ J, where J is the nearest-neighbor exchange constant, while 'nearly-critical' quantum-disordered ground states have a energy-gap, ∆, towards excitations with spin-1, which satisfies ∆ ≪ J. The allowed temperatures, T , are also smaller than J, but no restrictions are placed on the values of k B T /ρ s or k B T /∆. Under these circumstances, we show that the wavevector/frequency-dependent uniform and staggered spin susceptibilities, and the specific heat, are completely universal functions of just three thermodynamic parameters. On the ordered side, these three parameters are ρ s , the T = 0 spin-wave velocity c, and the ground state staggered moment N 0 ; previous works have noted the universal dependence of the susceptibilities on these three parameters only in the more restricted regime of k B T ≪ ρ s . On the disordered side the three thermodynamic parameters are ∆, c, and the spin-1 quasiparticle residue A. Explicit results for the universal scaling functions are obtained by a 1/N expansion on the O(N ) quantum non-linear sigma model, and by Monte Carlo simulations. These calculations lead to a variety of testable predictions for neutron scattering, NMR, and magnetization measurements. Our results are in good agreement with a number of numerical simulations and experiments on undoped and lightly-doped La 2−δ Sr δ CuO 4 .