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 N\'{e}el order. For N\'{e}el-ordered states, `nearly-critical' means that the ground state spin-stiffness, \(\rho_s\), satisfies \(\rho_s \ll J\), where \(J\) is the nearest-neighbor exchange constant, while `nearly-critical' quantum-disordered ground states have a energy-gap, \(\Delta\), towards excitations with spin-1, which satisfies \(\Delta \ll J\). 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. 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 \(La_{2-\delta} Sr_{\delta}Cu O_4\).