I think it teaches a dog bad manners and begging, so absolutely no. Food tidbits are either tossed on the floor while the dog isn't looking (not right next to the table though, they get tossed elsewhere in the room so he has to "hunt"), or handed well after dinner - either way, so that they aren't directly associating humans eating food with dogs getting scraps.
From a "grossness" standpoint, I don't care. They're about to be cleaned & sanitized.