I don't know if this is the right way to do it, but I brush Cin's teeth every night after supper, before play time. We brush her coat every 3 days or so. Her hair is wavy and not real thick, so she doesn't get matted like the dogs with the curly hair and thick coats.
I have had comments from the vet and other dog owners that her teeth look very white and I think it's because she does get her teeth brushed on a regular basis. Hope this helps!