How to get a toned triceps? I have dumbbell!!?

is there a way for me to toned my triceps so that my triceps wont feel soft.Btw pls dun make urself wrong, I have quite big of triceps becoz i did many push up. Now , i am lazy to do push up due to some reason like i'm doing pull up to balance my arm but i realised that my triceps is soft when not stretching it. Can the triceps extension or triceps kickback tone my triceps and if yes , how many reps should i do? Another question , should i do with light weight first?