Oh a time for me to share my specialized expertise! So I was a dog walker for almost a decade and I've learned an amazing trick that has worked on 100% of dogs I've tried it on and is very safe from the human if done correctly.

1. Get your hand ready, you're going to use your middle finger and your thumb to pince together so get your other fingers out of the way and get just the middle finger and the thumb ready to pince.
2. Stand kind of behind and to the side of the dog, with the dog on the side of whichever is your dominant hand (right if you're a righty, left if you're a lefty).
3. Move your ready to pince hand up behind their head and up to their muzzle.
4. Like an arcade claw machine game you're gonna lower your hand down over their muzzle and slip your thumb and your finger behind their canine teeth MAKE SURE YOU BRING SOME OF THE DOG'S LIP WITH YOUR FINGERS!!!

Side note here: I know this seems like you're going to get bitten by putting your hands in a dog's mouth between their teeth but this is VERY CRUCIAL you MUST grab some of their lip with your fingers and bring their lip down into their teeth with your fingers so that they feel like if they bite down then they're just going to bite themselves. And don't put too much pressure or you'll hurt the dog.

100% of the time as soon as the dog feels their lips slip between their own teeth, their mouths will just open right up. They might start struggling a bit to try to break loose of your grip, but keep your pinced fingers firmly in place while with your other hand you remove the object from their mouths. You might not even have to reach in there because they sometimes drop what they're holding as soon as your slip your fingers in there. And if it feels like the lips are slipping out or the dog is going to break free, just get your fingers out of there and try again when the dog calms down.

Also just don't try this on a dog you're not familiar with, an unfamiliar dog might just turn around and bite you as soon as you get close. If there's some level of trust between you and the dog, there's no chance they'll bite you if done correctly. I've probably done this to like 40 different dogs in my life and it works 100% of the time.