Can anyone clarify which bones are best for dogs teeth? I know cooked bones should be avoided at all costs

but what about other ones,smoked,raw etc. is there a best one and are they really good at keeping teeth clean and tartar free?
We clean Spice's teeth with dog toothpaste but she eats more of it and chews the brush so it's a messy and difficult operation :D She has had rawhide 'bones' but they get really mucky when she has gnawed on them for a bit :D
What other 'chews' are good for teeth,we have tried nylabones but she doesn't seem to bother with them and her favourite toys are the plush soft ones.
Her diet in the main is soft (naturediet) with a bit of 'crunch' of JWB,plus the occasional raw carrot or apple, but I would like to think we are doing the best we can for her teeth,especially as I am a coward where teeth and dentists are concerned,I would hate for her to have problems later on :)
Jacqueline :)