Yes, we brush Rascal's teeth a few times a month (we also did our other dogs' teeth in the past as well). We started doing it with him as soon as we adopted him at five months, so he'd get used to it. He also likes the chicken flavored toothpaste, and doesn't appear to mind the process at all.
In general, he's young and a good chewer, so his teeth are in good shape. We started giving him raw beef femur bones occasionally, and he LOOOOOVES gnawing on those.