I use Premier Pet Natural Dental Wipes from Petsmart on Wosie and she loves them.
She and I wipe her teeth down with the minty fresh wipe. She really enjoys it, lets me wipe, I let her chew, she lets me wipe, I let her chew. It's easy! She's almost 7 months old, so we have been doing it for a while. I tried a brush and paste on her, but she hated it. She likes the wipes much better.
Good luck!