I give raw beef rib bones. They keep their back teeth really clean. I also get the large knuckle bones for them because they chew them with the front teeth and it helps keep their canines clean. You can also feed raw chicken. My vet suggests backs for cleaning their teeth. It's something about the cartilage.
I have never had an adult dog that would even look at a hard rubber toy or nylabone. The puppies would sometimes play with them, but not that much.
I don't feed any smoked bones. Smoking cooks them and cooked bones are not good to feed. I just use the raw marrow bones that I get from my vet or at the raw dog food store.