Yes, bones do help clean the teeth.
Although Anna is right, meat is the most important part of the diet, the do however need some bone & organs. Some dogs systems are more sensative than others. Therefore some dogs can eat a lot of boneless meat with no ill effects, most will get the runds though. But too much bone can cause constipation in most dogs.
I agree, I would start off with a whole chicken (remember to remove the bag that the organs are in inside the chicken) or chicken quarters, bone & all.