It all depends on what you're used to, really. I write far faster when I print than when I use cursive, because I rarely use cursive. If you prefer cursive, then of course it will be faster for you. As for it being legible, it just depends on how often you read cursive and how neat the handwriting is. Cursive can be perfectly legible if people put in a little bit of effort into making it so.
Did you know that cursive alphabets are different in different countries? I didn't, until I moved to Prague. Czech cursive is completely impenetrable to me. Several of the letters are completely different, and many of the letters resemble each other too closely for me to read them easily. It's a problem, because I'm a teacher, and all my adult students would always submit their work in cursive. This is how they're taught to write, even before they learn to print. Apparently it's easier for a young mind to learn to read and write if the letters in a word are joined together. They also go on and on about how much faster it is. But I have to force all of my students to print, even though they grumble about it, because it's the only way I can read it.
Interestingly, Czechs have no problem reading English cursive. Comparing the alphabets side by side, I've come to the conclusion that while cursive has always been intended for faster/easier writing than printing (although I don't find it so), the Czech cursive alphabet is designed SOLELY around it being fast to write. You never have to go back to cross a T, for example, and most of the letters with closed circles are open in cursive to save time. The English cursive, however, is designed to be at least somewhat possible to READ. The cursive letters resemble the print ones as closely as possible, so that you can write without picking up your pen, but the letters still look like letters.
Now, it's worth noting that if it's written carefully, the Czech handwriting is just as possible to read as the English, but since everyone focuses solely on it being fast, I can never read a single word of it.
I'll have to see if I can dig up a sample of a student's handwriting to show you all... I might have given back all the papers during the school year though...