Interesting question for a survival site, but your teeth are critical to your survival as you will need them to chew on food.
Take some charcoal from your fire (make sure it is not hot) and crush it on a stone and add a few drops of potable water to make a dark paste. Apply that to your toothbrush, or make a brush with a twig or palm frond fibers, and brush your teeth with it. After you coated and brushed your teeth, rinse with potable water a few times to get the charcoal out of your mouth.