I remember reading somewhere that the SAS eat worms on survival training in the UK. Basically they dig them up, then fast them for a few days until they've stopped excreting soil. (Same with eating snails safely, I believe - fast them until they stop excreting.) Then, of course, they cook them and put them in soup. One guy described worms as tasting like bacon rinds. He said it was actually one of his favourite meals - to his wife's horror!
I suppose RPDers could fast them until they are empty of soil, then dry them out on a stone in the sun, and have them like beef jerky.
I also read in that Victorian book I mentioned on another thread about insects
http://www.amazon.co.uk/Why-Not-Insects-Vincent-Holt/dp/0946014124/ref=sr_1_1?ie=UTF8&qid=1295356736&sr=8-1, that rustic old Victorian gardeners would pop certain grubs in their mouths and eat them as they dug them up. (I can't remember which ones, but I've just repurchased the book (I gave the old one away), so maybe I can find out soon.) Plus, when they were ill they would eat a live woodlouse rolled up in a ball, and call it a "pill".