We present a new numerical code that evolves a spherically symmetric configuration of collisionless matter in the Brans-Dicke theory of gravitation. In this theory the spacetime is dynamical even in spherical symmetry, where it can contain gravitational radiation. Our code is capable of accurately tracking collapse to a black hole in a dynamical spacetime arbitrarily far into the future, without encountering either coordinate pathologies or spacetime singularities. This is accomplished by truncating the spacetime at a spherical surface inside the apparent horizon, and subsequently solving the evolution and constraint equations only in the exterior region. We use our code to address a number of long-standing theoretical questions about collapse to black holes in Brans-Dicke theory.