The late Chuck Adams, K7QO offered great advice, but "always" the fastest writing is cursive is not one of them.
Some of my students could use modified printing and print faster than most could write. I was stunned when I saw him do it, then others started doing it.
I used a modified script, like Italic with a "swung E" like a Greek like their lower case epsilon, but more like a W sideways. Or a C with a line through it. (-
The Army system for printing is very good.
You will find it in this book on page 66.:
https://archive.org/details/Tm11-459_676/page/n65/mode/2up
AF2Z uploaded the whole Signal Corps Morse recording set here: https://archive.org/details/U.S._Armed_Forces_Institute_Basic_Radio_Code_ca1942
73
DR