Epoxy will stick to new untreated wood beautifully and using the method Robin suggests will result in a steering wheel to die for!
But.... (you knew there was a but didn't you) epoxy will not bond properly to old varnish, flaky varnish, paint, dirty wood, some woods with either naturaly occuring oil or resin in them or applied oil or wax on them. It will also not bond to wood that had been stained.
It will stick to the workshop floor no matter how dirty it is...
We use West a lot, mainly for glueing, and have experimented with it over brand new wood with stain on it with a view to varnishing etc. However, if the natural colour of your wood is right then its well worth considering. We will be doing our oak rubbing strakes in West as they dont need a woodstain.