My dogs teeth arent too great unfortunatly, We have cleaned them before with doggy toothpaste but I dont know if i should believe that it works or not, Anyway my question!!

I cant feed raw, Its not an option to me because of money but they normally get a mixer with a tin of dog food, We give them Rasks which I'm guessing at like greenies, But would the rawhide or stuff like pigs ears help clean up the teeth more? Also does it take your dog a while to get through things like pigs ears? I cant have them eating food that takes too long for them to eat because they will end up fighting and i try to prevent that as much as possible!