Is there any "Whitening" Toothpaste that ACTUALLY works?

I brush my teeth 3 times a day, have regular dental checkups, I don't smoke and I seldom consume any sugar. Dentist tells me my teeth are fine, good in fact, considering my age.

Problem is, they are stained as hell. I do drink a lot of coffee, but I don't think it's considerably more than most people my age and profession.

No whitening kits, or whitening toothpaste I have ever tried have actually worked.

Any suggestions? It's becoming something I am quite self conscious about now, especially after seeing pictures.