Jumping up and grabbing things (as in toys) from people’s hands is a rude behaviour and can be dangerous. This is a very reinforcing habit for dogs as they get what they want, when they want it!
Incorporate this simple exercise when playing with your dog to teach good manners. Your dog should quickly figure out that NOT jumping gets the toy sooner! The goal here is to show impulse control when things get exciting.
If your dog starts to lose interest, try to re-engage them (as demonstrated in this video). No verbal cue is given! Rather than telling the dog what to do (is, sit, leave it, down, off), let them figure it out!