Low-fat mozzarella string cheese sticks can be cut up into tiny little chunks and dogs LOVE them. Better than giving the dogs a treat like hot dogs or even cheese would be to get a puzzle food toy to keep them busy working for food while you eat your meal. (Think parrot foraging toys, but for dogs!). Instead of giving a fatty treat, put their normal kibble into the puzzler (do you feed them twice or once a day?) and this makes them work for their meal. Now instead of scarfing down dinner from a bowl which takes no effort or thought whatsoever, and also gives them time to beg for treats, they instead will have to use their brains and coordination to work for their kibble.
Here are examples of some food puzzlers:http://www.amazon.com/OurPets-Smarter-I ... puzzle+toyhttp://www.amazon.com/PetSafe-Kibble-Ni ... puzzle+toyhttp://www.amazon.com/KONG-Genius-Mike- ... puzzle+toyAnother thing you can do is buy small, metal buckets like this:
http://www.amazon.com/dp/B005N127YS/ref ... UTF8&psc=1Take their kibble meal, add a small amount of canned pumpkin (good for the GI tract, much better than peanut butter, just make sure it's plain canned pumpkin and not pumpkin pie filling!) and add any other treat you'd like, like a milkbone. Next, pour in a small amount of water, stir it all up and stick the bucket in the freezer. The next day, pull out the bucket from the freezer and give it to the dog (do not thaw). Now they have a frozen meal that they have to work really hard to eat. It'll keep them occupied and they love it.
One more thing you can do it hide treats around the house to make them work for their goody. I would use something like their normal kibble, tiny pieces of mozzarella cheese, or good quality chewy treat like Wellness Pure Rewards. Put the dogs away in another room so they can't see you hide the treats. Turn it into a game that you play every day at the same time, with a prompt like "find the treat!". The dogs will learn the game and look forward to it each day. You'll have to cheat and show them where they are hidden a few times at first.
Basically, make them work for their reward!