Yes I often used to give my dog a full body massage. She very much enjoyed that. She had quite strong muscle structure in her legs, and was very athletic during the day so I thought she would appreciate that in the evenings, to stimulate circulation.
One thing I used to do which she liked was a full 'spinal alignment/energy wash' thing. I would start at the top of her head and gently massage down both sides of her spine, then 'washing away' old energy by sweeping my hand along her tail at the end, then starting again. I usually did this about 3 or 4 times. She really did like that one.