Motivated by recent experimental progress in preparing encapsulated graphene sheets with ultrahigh mobilities up to room temperature, we present a theoretical study of dc transport in doped graphene in the hydrodynamic regime. By using the continuity and Navier-Stokes equations, we demonstrate analytically that measurements of nonlocal resistances in multiterminal Hall bar devices can be used to extract the hydrodynamic shear viscosity of the two-dimensional (2D) electron liquid in graphene. We also discuss how to probe the viscosity-dominated hydrodynamic transport regime by scanning probe potentiometry and magnetometry. Our approach enables measurements of the viscosity of any 2D electron liquid in the hydrodynamic transport regime.