The pseudogap Kondo problem, describing a magnetic impurity embedded in an electronic environment with a power-law density of states, displays continuous quantum phase transitions between free and screened moment phases. In this paper we employ renormalization group techniques to analytically calculate universal crossover functions, associated to these transitions, for various observables. Quantitative agreement with the results of Numerical Renormalization Group (NRG) simulations is obtained for temperature-dependent static and zero-temperature dynamic quantities, at and away from criticality. In the notoriously difficult realm of finite-temperature low-frequency dynamics, usually inaccessible to both NRG and perturbative methods, we show that progress can be made by a suitable renormalization procedure in the framework of the Callan-Symanzik equations. Our general strategy can be extended to other zero-temperature phase transitions, both in quantum impurity models and bulk systems.