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I saw this on one of these IronHead forums a few years ago, but I do not recall how it was done. Try searching here and on the other IronHead forum as well.
A quick Google search for "Best way to knurl handlebars" will produce quite a few Youtube videos of different ways to do it, ranging from some pretty fancy (expensive) tools to a guy with a hammer and a punch."
Some of the search results mention using strips of "drywall sanding paper" between the risers and the bars, instead of knurling. I've never seen or used drywall sanding paper, but it appears to be similar to emery cloth with the "sand" on both sides of the paper. Some guys swear by it and say the bars are "rock solid" when using it.
7 Surprising Harley-Davidson Products that Are Not Motorcycles
Slideshow: The bar-and-shield logo shows up on far more than motorcycles, some of the company's most unexpected products have nothing to do with riding.
Slideshow: From the troubled AMF years to modern misfires, these bikes earned reputations for reliability issues, questionable engineering, or disappointing performance.
Crazy Bunderbike Build Looks Amazing, But Is It Impossible to Ride?
Slideshow: The Swiss custom shop has taken a Harley Softail and stretched it into something so long and low that it looks closer to a rolling sculpture than a conventional motorcycle.
Engraved Rebellion: Inside Bundnerbike's Glam Rock II
Slideshow: A standard cruiser becomes an intricate metal canvas in the hands of a Swiss custom house known for pushing Harley-Davidson platforms far beyond their factory brief.
Slideshow: Harley-Davidson's challenges aren't abstract; they show up in dropping shipments, shrinking dealer traffic, and strategic decisions that aren't yet translating into growth.