Yes, my kiddos had penmanship. I've been bad with dd#3, though, as I haven't transitioned her to cursive (she's 10 now :blushing: ). She's a lefty and I've been dragging my feet......that's for another thread, though! ;)
As far as what we've used: Abeka handwriting and several years ago I bought an inexpensive CD (created by a homeschooler, I believe) to print my own penmanship worksheets. It's really cool, as it has several handwriting fonts on it and you can make it so the letters have dotted lines to trace, arrows showing the direction to move your pencil, etc. There's even choices on the type of "lines" you want to write on.
Sheri
edited to add: once my girls had the hang of cursive and just needed some 'review' I bought some inexpensive workbooks at Barnes and Noble. The thing I liked best about the workbooks was that the big letter 'Q' looked like a 'Q', not like the number 2 (kwim??)! Do you know of any other penmanship programs that do that?