yes and no.
I picked the darkest "still brown" minwax I could find, I'm pretty sure it was walnut, it works great.
since you are already in the brownish range, you aren't going to want to dip the mini, get a crappy, large brush and paint it on, you can let it pool a little in the crevices on the arms and it will look great, but with brownish skin and brown carapace with brown stain, you are going to want another step.
let it dry, depending on how thick you put it on it might take 2 days, after it drys, lightly drybrush the original color overtop to give it a little more depth, dont forget to do the little details like the weapon afterwards.
eample mini with paint-dip-drybrush method: