I don't mind giving Buddy the occasional "rubbish" treat. So long as his diet is good in other ways I don't see that it will do any harm. He doesn't get hyper with them though. If he did then I probably wouldn't give them.
However every time he had dentastix or similar tooth cleaning stick he had the runs so we avoid those now.
I am sure that a raw bone every now and then would do the trick if you don't want to go down the BARF route. have to say Buddy's teeth are fantastic now. When he was on the good dried food he always had some staining. And like many others, we never managed to get him used to a toothbrush.
We did buy a pot of plaque-off just before we changed over to BARF. If anyone would like an almost full pot, let me know and I'll send it on.