Generally speaking, you need quite hot water, at around 39C, and to get it all over with in 5 minutes, then dry your dog thoroughly (towels and hair-dryer).
Some dogs do not need washing more than once a year. Shampoos for humans are a little different for those carefully developed for dogs. Your Vet will advise as to the rhythm and special product to use in case of problems: sebum or allergy, for example.
Finally, don´t forget that, during most anti-parasite treatments (for fleas, or tics, etc.), it is recommended not to bathe the dog for 48 hours prior to and after treatment.