The Heimlich maneuver on any small pet should be performed in the same manner as on an infant or small child. Hold the dog on its stomach firmly with the body resting on your forearm. Tilt the head down to the floor at a 45% angle while supporting the head. With the heal of your hand smack the middle of the back with a down and forward motion. Doing this a few times should eject the item from the throat. Good luck! Hope you never have to use it. This shouldn't be used if the dog is wheezing or breathing.
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Signs of choking include:

* Gagging
* Pawing at the mouth
* Distress
* Rapid or shallow breathing
* Pale or blue tongue
* Unconsciousness
* Increased respiratory rate and effort

If your dog is choking and you can see the object stuck in his throat, you may attempt to remove it using a spoon or a pair of tongs, but never place your fingers inside the mouth of a choking dog. The sweetest dog in the world will bite you when he is in distress!

If your dog is unconscious and you believe an object is keeping him from breathing, you must remove the object to open the airway before giving the dog CPR. If the dog cannot breathe, efforts to revive it will be fruitless. The Heimlich maneuver for dogs is similar to its use in people, but the size of your dog will determine the positioning of your hands.

For a small dog, place one hand on his back to steady him and close your other hand to form a fist and place it under the center of your dog's rib cage. Press in and up with your fist, four or five times, in a thrusting motion. If that does not work, hold him upside down and place your arms around his lower abdomen for 30 seconds while gently swaying him from side to side.
Source(s):
http://petdoc.com/story/choking-dogs

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I found a few instructional guides on performing the heimlich on dogs, and they all share a common warning.

While you should first try to see if the dog has swallowed something and remove it with your hand, do NOT reach past where you can see. Dogs have small bones in their throat which can be confused with foreign objects. Pulling on those can cause them serious harm.

If there is nothing visible in the mouth, either hold the dog upside down or lie it on a slanted surface with its rear end higher than its head.

Using one arm to hold it steady, use the your other fist to press, below the ribs, inward and towards its throat. Keep in mind that with a small dog, you will not need that much pressure to compress its lungs and too much pressure can damage internal organs.

Check its mouth to see if the object has been dislodged, if not repeat.

Once you have removed the object, take the dog to the vet. Even if it seems fine, it could have internal injuries that won't be immediately obvious.
Source(s):
http://www.ehow.com/how_2304816_give-heimlich-maneuver-dogs.html
http://www.petplace.com/dogs/heimlich-for-your-dog/page1.aspx
http://www.globalcrisis.info/CPRanimal.html#heimlich

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