If lo has teeth, then the normal brushing twice a day should be good. I do let my lo drink some water too throughout the day to just rinse off the leftover milk. I think it's actually quite hard to wipe the mouth while he is asleep. Important thing is not to leave the bottle in the mouth and let the formula pool in his mouth. He should finish his milk and swallowed everything down.
You can let your baby continues sleep through and wipe his mouth twice a day during day time when baby is awake. It's not good to disrupt baby's sleep just to wipe his mouth. Sleep is important for baby to grow.
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Our dentist recommends wiping but is also aware that it may be unrealistic for some families. He suggested we brush thoroughly in the morning as an alternative.
Yes I would wipe his mouth as prolonged formula milk stains can lead to irritation on baby's skin.
Brush the teeth twice a day. I would not wake a baby just to do so.
thanks