Using a box cutter with the blade extended or a serrated knife, cut your pool noodle to approximately 4 inches long. 

Cut three additional pieces from your pool noodle each about one inch long.

Cut a piece from your pipe cleaner approximately 3 inches long.

Push one end of your small pipe cleaner piece into one of the 1-inch pieces of pool noodle.  Push the other end of that pipe cleaner into one end of the larger piece of pool noodle.  This is the dog's head.

Cut one of the one inch pieces in half.  If you are using flower shaped pool noodles you should cut you piece so you have 3 arches.

As you did with the head piece, cut two small pieces of pipe cleaner and insert them into the ends of the piece you just cut.

Attach this piece to the head piece to become the dog's face.

Cut the small piece you had left over from the face in half.  These two small pieces will become the ears.

Attach the ears just like you did the two previous pieces.

Cut the third 1-inch piece like you did the nose piece. This time use the piece with two arches to become the tail.  Insert a pipe cleaner in the tail piece.

You have now created the body of the dog.

I used a combination of googly eyes and pipe cleaners to create the eyes, nose and mouth.  You can use whatever you have on hand. A. Attach two googly eyes using glue dots. B. Cut a very small piece of pipe cleaner and fold it in half. C. Insert that to become the nose.  If you like you can use another small piece to become his tongue D.

Cut the two straws into 4 4-inch pieces.

Insert the straws into the bottom of the dog's body to become the legs.  You may need to create the holes with a pencil or pen.

If you like you can cut the remaining piece of noodle into four small pieces which can be added to the bottom of the straws to be feet.