I buy my dogs various treats intended to reduce plaque due to the hard texture, but otherwise I've only brushed them occasionally - until recently. I had always checked my dog's teeth periodically but when I got a third dog who I soon realized had absolutely terrible teeth (when I got him), it really woke me up. He is only two years old, but had absolutely terrible teeth that were nearly too bad for the vet to bother scaling and polishing. He also had four retained baby teeth (including both 'fangs') which looked painful. I couldn't believe a two-year old dog could have such terrible teeth, but apparently this is a bit more common in chihuahuas than other dogs... Since dealing with Iggy's teeth, we began trying to brush all three dogs' teeth often to prevent any problems before they begin. Iggy's mouth was a special case, but it scared us to full attention!
As for a good doggy toothpaste... I have no clue. I got a chicken flavored enzymatic toothpaste by Nutri-Vet but boy it STINKS, and the dogs try to pull their heads back to lick it right off the toothbrush instead of letting me brush with it. An unflavored one worked better, but I believe the brand I used went out of production and I haven't been able to find a new one since I ran out last month. Still searching!