Turning training into games and using commands in any interaction. When the dogs go outside, they sit for the leash to be put on because going outside is a reward in it's own (but don't tell them they'll go out even if they don't sit for the leash!!!). I keep treats on me at all times so I can give when they do something good or distract from something bad. This way, when walking, I can get them into a sit, down, etc. or distract from barking at traffic by using a bribed treat. Games are by far the best. I have a list that is ever growing.  We make learning fun. They dogs are learning names for all the toys and learning to pick them up and put them in their bin. I plan to create a complete list of the games and post them somewhere in the future. Having fun while learning is the best motivation. Dogs usually want to please and there are so many easy, great rewards. You just have to have good timing and make it enjoyable! Those are my secrets!