A soft towel is the best idea because rough towels can make baby upset. (babygaga.com)
I was taught to use a small rough towel, squeeze some dog's toothpaste onto it, and then gently rub the dog's teeth in circular movement. (thethreedogblog.com)
Rough towels that may feel good to an adult should be avoided with a baby. (newkidscenter.com)