I roughhouse with our dogs, I think it's a valuable skill. I definitely rough housed a bit with our mini cross as a kid (dragging her around with a toy over my legs, etc), and also with our collie cross. But it generally starts after they have learned self control and tooth control and are no longer jumping up on me spontaneously (8-12 months? ).
With Annie, we mostly do jumpy play. Jump, jump, jump, me hit her sides lightly with my hands and me bouncing, bark, bark bark. If she gets too riled up - "Annie! Down!", pause and wait 10s with her at a down, tail thumping, then I release her, and its back to jump jump, jump, bark bark bark. It is ALWAYS me who instigates it, if she tries, I won't play, and if teeth touch skin, we are done. She also doesn't jump hard , she bounces on the ground more than jumps, and rarely puts paws on me - if she gets too enthusiastic with paws, the game ends. We usually do maybe 20-30s of play and then are finished.
I (and my mom more so) are also deliberately not gentle sometimes with our dogs, we do a lot of "rough you up" sort of stuff from puppyhood where I scrub at her roughly, tug her tail, catch her paws or whatever, as a way of teaching I can touch you wherever/desensitizing her to rough touch. It's a game. We do this with the little dogs too. All of them have loved it, they get very excited/happy from hearing "I'm gonna rough you up!"
