Absolutely NEVER use bleach on bones or teeth. Even after they dry, the bleach will continue to eat away at them. Just use hydrogen peroxide and water. Let them soak for as long as it takes for them to get to be the tone of white you want them to be. This also sanitizes them.
Also, be careful cooking them. No matter how gentle the process my seem. Some teeth (and bones) crack, warp and fall apart. I lost some large elk teeth this way slow cooking them in a crock pot.
I have a lifetime of experience collecting and cleaning teeth and bones. But I actually had a teeth related photo project some time ago where I got a lot of experience with a large variety of animal and human teeth.
My "Nothing But Teeth" photo project:
http://www.flickr.com/photos/gato-ranch/sets/72157622469273110/