I wouldn't give them cooked bones as cooked bones will splinter into sharp pieces and can be very dangerous. It's safer to give them uncooked, raw, fresh bones to gnaw on.
I give my kiddos RMBs (raw meaty bones) - I use Bison Back Ribs from Whole Foods. My 3 cannot consume / eat / break this type of bone, even though one of them is a very aggressive chewer. The most they can do is gnaw the bits of meat off, and then gnaw on the bone - which is GREAT for cleaning the teeth. I also feed pre-made raw (Primal) and have been for a long time now -- and I've never had any probs w/ raw germs due to the bones or the food.
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