If the pup isn't teething, a game of tug is a way to soothe them! It will tire them out enough for you to then give a nice massage starting with the muzzle and working your way down to the toenails. I remember when my pups were young, they wanted me to hold their chewbone as they settled down. It was calming to have me with them if they were overtired and having a hard time to settle. I would then massage their ears in small circular motions and work my way down the body. Dogs really seem to like having their eye area gently massaged too. Places they can't do it themselves.
TTouch is a great technique.
TTouch is a great technique.