My thermodynamics professor last semester had amazing penmanship, and he inspired me to work on my horrible chicken scratches. I almost never took notes in class because my notes were simply too awful-looking, so I didn't enjoy the process of writing.
I worked at my penmanship with some online guides, and bought a slightly weightier pen (Parker IM gel). After practicing my cursive over the winter break and writing at every possible moment, I've seen some definite improvement. More importantly, I now enjoy writing and looking at the finished product. I recently bought a $25 fountain pen and some $5 Piccadilly notepads (Moleskine lookalikes), and my notes have improved even more.
Anyways, I think that if we worked on our penmanship a little, we'd enjoy taking notes in class a lot more. And correspondingly, we'd get more out of each lecture! It definitely worked for me.