We generalize Brooks's theorem to show that if $G$ is a Borel graph on a standard Borel space $X$ of degree bounded by $d \geq 3$ which contains no $(d+1)$-cliques, then $G$ admits a $μ$-measurable $d$-coloring with respect to any Borel probability measure $μ$ on $X$, and a Baire measurable $d$-coloring with respect to any compatible Polish topology on $X$. The proof of this theorem uses a new technique for constructing one-ended spanning subforests of Borel graphs, as well as ideas from the study of list colorings. We apply the theorem to graphs arising from group actions to obtain factor of IID $d$-colorings of Cayley graphs of degree $d$, except in two exceptional cases.