Toothpaste is an invention that doesn't seem to have a definige inventor or date. Something like it was known in ancient Egypt, that people used a paste made of a mixture of ash and powdered egg shell, that they rubbed on their teeth with their fingers.
Im 1873 the Colgate Company — the same one which makes toothpaste today — introduced Colgate Dental Cream, which smelled and tasted much nicer than anything else until then. Soon after this, people began to use toothbrushes instead of sticks and fingers, which made cleaning teeth much easier.
However, most Americans didn't brush their teeth regularly until the 1940s, whom American soliders that had spent several years in Europe and learned the habit there, went home after the Second World War.