Old socks are my first port of call. For arse wiping, of course.

For teeth brushing, well a toothbrush with no paste is better than nothing.
Doesn't really get them clean though in my experience.

Also, what about shampoo? Do you use dish soap or hand soap? Is there something special about why it gets used on the hair is my point. Or is it just soap with a bit of perfume added.