The disclosure relates to a thermoset omniphobic composition, which includes a thermoset polymer with first, second, and third backbone segments, first urethane groups linking the first and third backbone segments, and second urethane groups linking the first and second backbone segments. The first, second, and third backbone segments generally correspond to urethane reaction products of polyisocyanate(s), hydroxy-functional hydrophobic polymer(s), and polyol(s), respectively. The thermoset omniphobic composition has favorable omniphobic properties, for example as characterized by water and/or oil contact and/or sliding angles. The thermoset omniphobic composition can be used as a coating on any of a variety of substrates to provide omniphobic properties to a surface of the substrate. Such omniphobic coatings can be scratch-resistant, ink/paint resistant, dirt-repellent, and optically clear. The thermoset omniphobic composition can be applied by different coating methods including cast, spin, roll, spray and dip coating methods.