Cisco configuration over SNMP

Before configure your device over SNMP, you need to enable read-write and limit the access with an ACL.

snmp-server community <your_community> RW <Access-list>

Now you can configured your device with snmp-set command. The following example show how upload a new configuration on your running-config with a TFTP Server.

snmpset -v <version> -c <community> <your_router> \
. i 1 \
. i 4 \ 
. a "<IP TFTP Server>" \
. s "<filename>" \
. i 4

You also can use FTP, SCP, … You have more information about the mib here.