Haha maybe I'm lazier than the rest of you, but my way is much easier than what you've all been mentioning! Call me a bad mommy, but I have no desire to brush my dogs teeth!
I read this on here so I'm assuming it works just as well...I squeeze a little dab onto my finger and then I put it on their lips. They lick it off and therefore distribute all over their teeth with little effort from me!