As soon as they have teeth

Seriously, many pups are weaned straight from their mother's milk onto raw meat and bones (if the breeder happens to believe in natural diets/rearing). And raw feeders will all put their pups on raw meat/bone diets from the day they bring them home at 8 weeks.
If you're feeding raw bones for consumption, then you need simply to choose something of appropriate size (eg. chicken necks). If it's recreational chewing you're talking about, then pretty much any raw meaty bone will do. Soup bones are fine. They may or may not come frozen.
Raw bones will usually last for several
weeks. They won't go bad with all the meat chewed off (and marrow consumed, if it was a marrow bone), which usually happens in the first day (possibly two) after the dog is given it. That's perhaps the one thing you'd have to look out for with a baby puppy though if you give large bones - they might take quite a long time to chew all the meat off and it's possible it could start to go bad. If you store the bone in your freezer between chewing sessions though, you'd minimise that possibility (and if it happens, you just chuck the bone away and give a new one).
The only caution I'd make is on marrow bones. If you give those, then it's a good idea with a young puppy to scoop some of the marrow out. Dogs love marrow, and it's extremely nutritious too. But it's also very fatty, and too much of it can give young pups loose stool.