I don't think it is necessary at all to assist shedding with bearded dragons. The only parts of the body that may need help time to time are the toes and tail tip. These can be soaked (by soaking the dragon) in a shadow dish of luke warm water (around 75F) for 5-15 minutes. Mineral oil (or baby oil) can also be used to help loosen the skin around the extremities.
A soak for body sheds is helpful, makes the skin come off easier and provides some relief for the dragon. For the head/neck area, gently scratching can help flack off the skin but I don't recommend trying to pull it off, as this can damage the skin underneath. Making sure there are some rough objects in the cage for your dragon to rub against will help as well, things such as rounded rocks (no sharp corners/edges that may damage soft body parts), non splittery wood (most driftwood or store bought wood is smoothed off but not so smooth it is like glass, just the rough edges removed so you don't have to worry about splitters) and other cage furnishings.
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PHLdyPayne