I think plaster would have a cracking issue over the foam, and a lot of weight. I made my display board out of tile, matches some of my bases, maybe 20-30 lbs....it's too much.
I think they have spray acryltic lacquer? The kind of stuff if you've ever been to a bar, and the table is actually wooden door, but incased in plastic, that kind of stuff. Or maybe it only comes in pour bottles, whatever.
So that stuff is probably too smooth. So I think they also make extra matte, roughing agent essentially, you can spray on. Or maybe just pour sand on it while it's still wet, no joke.
SO I'm envisioning,: carve your foam, cover in a really thick layer of that acrylic stuff, roughen wither with fine sand or an appropriate spray, paint and dry brush.