Oh yeah, our vet reccomends that you use a finger brush to brush their teeth. It's easier on their gums and works really well. Call your vet and ask about toothpaste, they usually have it. They also have dog mouthwash that kills germs and helps breath.
In Stop & Shop, I know they sell dog toothpaste and toothbrush (the toothbrush stinks, it's really hard and hardly works. And the toothpaste isn't really that great either.)