Does anyone know of an easy way to brush your dogs teeth?

If you have any tricks especially for a small dog, it will be helpful. I don’t want to take my dog to have his teeth clean because he had problems the last time with being knocked out. He’s older now so I’m afraid it may be more of a problem. I tried the finger brush but it either does nothing or is too rough and makes him bleed like crazy. I probably have the best luck with a tooth brush but it fits uncomfortable in his mouth and I’m afraid to hurt him with it.
Is it better just to try to brush his teeth every day and just hope I get all the crap out? Or is there a way to properly brush his teeth where I can get most of the crap out?