To be honest, I have never really taught a child to improve their penmanship. However, I believe it is still important for kids to learn both print and cursive writing so that they can understand it when they come across it. While many places are reducing cursive education, I personally think it would be disadvantageous to be unable to read cursive, even if you prefer printing.
But when it comes to enhancing a child's penmanship, I'm not sure how crucial it is as long as their writing is legible when necessary. In the modern age, most formal documents are submitted in typed format, so I think it's more important for kids to focus on developing good typing skills rather than perfect handwriting. Having neat handwriting may earn a star on a paper, but it's not functionally necessary unless someone plans to pursue calligraphy or a similar field.
As long as the child's literacy is progressing normally and they can produce readable written text, I wouldn't obsess over beautiful handwriting personally. However, if you want to improve their penmanship, I suggest engaging them in activities that involve fine motor skills, such as playing with clay or building with Legos. They will likely enjoy those activities more than traditional handwriting drills.
Messy handwriting does not reflect a person's academic abilities, and I do not consider it a significant issue to nag a child about. Focusing on such things is what causes kids to dislike school.
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