Firstly, it is very important that you realize that the dog's teeth are as important as your own.
You have to take care about the dogs gums and teeth, before you do that, the better.
A dogs teeth cleaning requires special toothpaste and a finger-brush (recommended) or for larger dogs a special toothbrush.
Never use human toothpaste or brushes, they are not designed for dogs and are not suitable and can ultimately heart or poison your dog.
The natural resource for a dog to clean teeth would chew bones, or a piece of wood, or anything else that he might like to chew.
It is absolutely OK and very good to give him raw bones, apples, carrots, some bone substitutes (such as piggy-dry ears) or hard biscuits. If you feel comfortable with this, then give him those, will help to keep your teeth clean.
In any case, it is necessary to clean the teeth of dogs about 2-3 times, or at least once a week. There is no way around this.
How to brush your teeth with a special dog toothbrush and pet toothpaste must be learned, you should train your dog to this. So it's great if you can start with this exercise, if he is still a puppy.
It is a learning process that begins with putting your fingers in the mouth of dogs, after he gets used to this the next step is to do the same with a finger toothbrush (I recommend those), the third part is to put some special toothpaste on the toothbrush and let him lick him to feel the flavor, then go with the toothbrush and paste on your finger in the mouth of dogs. If everything works well you can start brushing your teeth with smooth, slow movements.
Never make this procedure a stressful experience for your dog, or ever will do the cleaning. Go step by step until you have the desired result.
If you never cleaned their teeth so far and find that Tartar and plaque from the teeth of dogs is strong (a Brown, foul smell) then you should see a vet ASAP. He will remove plaque and Tartar. Depending on your feed dogs and General chewing behaviors that should be done once a year.
Small dogs need dental care more like their teeth are more stringent and food particles attach themselves more easily, as well smaller dogs have a harder time chewing something hard like bone, larger dogs there are easier to control.
But the problem itself is bigger then you might think. If you don't know how to brush your teeth of dogs and not take care of this problem, your dog may get a gum infection as he constantly swallowing bacteria what affect his vital organs. This may affect his organs and he manages to get heart disease. It is shown that lacks dental care can cost you your dog up to 5 years of his life.
Bottom line: cleaning dogs teeth is as important as its nutrition, which can poison even if you're not aware of what is wrong nutrition. Nutrition by the way is the main source of most health problems, including plaque and Tartar.