I've been brushing my dog's teeth for years. (She's now 8 years old.) Even though she gets healthy crunchy treats, her regular meals are home-cooked and soft. Soft food sticks to the teeth more than commercial kibble, so I brush her teeth to prevent tartar. I wouldn't say she "enjoys" it, but she lets me do it without putting up a fuss. I use a special toothbrush that makes the task easier, and a healthy canine toothpaste that doesn't have any dangerous additives. It helps keep her breath more pleasant, too.