I use baby colgate toothbrushes for my babies. Everyone has their own brush, and we change them regularly, just like I would with my own. We use Virbac CET dental vanilla mint enzymatic pet toothpaste.
My dogs have always had excellent teeth and clean mouths with fresh breath as a result of good oral care. You need a vet to check the mouth at least annually and should go with their recommendations on dentals.
As for yellow on the gum. I do not have that building up on my dogs' teeth. A chew item could help to remove some of it but it sounds like a dental may be in order by a veterinarian.
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