Hi and welcome
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Kibble helping teeth is just a myth; think of your own teeth...does crunching on hard food help out your teeth? Nope. No different in dogs. Dog's teeth are cleaned either by brushing or by chew treats...they're not cleaned by eating.
As far as food, totally up to you. A great option for you would probably be something like Honest Kitchen -- where they provide the dry "mix", and you add the meat and other stuff - and it's all balanced via that mix. SUPER duper easy. There are plenty of other foods out there like this too...like Sojos, Know Better Dog Food etc...