Yes on a daily basis. I still have all my fingers. I have 2 cats (litter mates) who are 20 months old. I started it as soon as they arrived with me.
We use Beaphear tooth gel rather than the paste, the paste is spat out when I tried using it but if I use the gel no problems at all.
It works on the enzymes rather than me having to physically brush for them so once a day I lift cat up on my knees and squeeze a dollop into their mouths and carry on as normal. It takes seconds and they see it as a treat. It's liver flavoured.
They have healthy teeth and gums as per the vet, even boy cat who broke one of his front fangs last year but it isn't exposed and he is eating well since, he did bite his lip which caused a bit of pain for a few days.
Lesson being to not jump from the top of the wardrobe to the chest of drawers and miss the drawers but hit your jaw on the corner of it ouch.