The super short answer? The very best foods (in my opinion) are Orijen and Taste of the Wild. They are extremely high quality and have prices to match, unfortunately. For a less expensive alternative (hey, I live in the real world! I know not everyone can feed their dog the premium priced food) I like Kirkland (Costco Brand) puppy food. It is a four star food that is very reasonably priced, so most families can afford it. It also helps that Costco is an awesome company that treats their employees well and so I don't mind supporting them.
I do keep a bag of dog food in the house to offer the dogs a snack or for emergency situations when I am unable to prepare their food or just as free choice to nibble on between meals. If you feed any dog food I always recommend that you still give your dog real meat whenever you get the chance.