Heh, yep, certainly not the only one... Although my excuse is that I just never practiced or used handwriting while growing up. And as for it being outdated; yes it is, but it's still used in a number of situations. Like exams. Four-hour handwritten philosophy exams. Which happens to be precisely the situation I'm trying to find a workaround for.
As has been mentioned, practice is really the only way out. I was forced into writing a few things both during the military and during my semesters at school, so mine has sharpened itself up a bit. I can't write cursive either, but considering the state of my print writing I probably wouldn't be able to read it anyways.
I've nosed into a couple decent books out there, as there are indeed books designed specifically towards non-traditional effective, comfortable and reconstructive handwriting techniques. Only thing I remember offhand is a recommendation for holding the writing implement if you, like me, have a tendency to grip things a bit too hard from trying to concentrate, and thus get cramps and pain from prolonged writing. Rather than holding it in the traditional "leaning" style where the pen/pencil basically sits on the stretch between your forefinger and thumb, try placing it in the nook between your fore- and middle fingers. It takes some getting used to, but once you can write properly with it then it really does help to loosen up and relax the muscles in your hand.