S.L.
I have not used any of the items listed in the responses personally. I am a belly dance instructor and if you can engage your pelvic floor muscles for an extended period of time you can strengthen them quite well without having to insert anything.
There are a lot of moves in belly dance that require constant use of the pelvic floor muscles. When I first started dancing I would engage the muscles while sitting and try holding the contraction for as long as I could and release (almost like if you were lifting weights) the longer I could hold and release the more I would increase the length of time. As you progress you can do it standing up, subsequently I was able to engage and hold the muscles for certain dance moves that require a quick contraction for a lower abdominal hip move with an accent.
To help your progress try pulling in the lower abdominal muscles (initially)and then imagine yourself pulling in the pelvic floor muscles and hold always try to engage one layer more hold for as long as you can (keep breathing) and then release and repeat. You can do that type of exercise anywhere. If you have more questions or need it explained further let me know : )
Good luck!