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In a $d$-electron system on a kagome lattice, a non-trivial intrinsic Berry curvature may arise from the interaction with a non-collinear antiferromagnetic spin order. This opens the route for a quantum anomalous Hall effect in the multi-orbital system, even without an external magnetic field, explicit spin-orbit coupling or relativistic effects. For spin orders with an out-of-plane component, the scalar spin chirality is finite, and the integration of the Berry curvature over the Brillouin zone may yield integer Hall conductivities in units of $e^2/h$. For a Fermi level within a nontrivial gap, the canted configuration offers, at least in principle, the posibility for a maximal Chern number, $C=\pm 5$. Candidate materials are considered in this paper. In existing materials, the electron hopping is generally highly anisotropic, leading to a quantum anomalous Hall effect with smaller Chern numbers. A topological phase transition between Hall plateaus of opposite $C$ can be driven by flipping the out-of-plane component of the spin order, alluding to the potential of this system to applications in quantum information.