Been there. My DD skipped Kindergarten and her fine motor skills were the last thing to develop. One thing that worked for us was a giant white erase board and multi color dry erase markers. She loves writing and drawing and really likes to leave messages and art work on the board.
The other thing that we tried is writing tablets doing one letter a day. My DD7 goes into 3rd Grade this fall and her 2nd Grade teacher sent home a cursive handwriting book. I watch her make the first letter, and then comment something like, "Great job, but can you make this a little fatter, skinnier, touch this line, etc." as she makes her first two or three letters. Once she gets the hang of it, she does the rest of the page and I tell her to put a star by her best letter.
Don't know if this will work for your daughter, but it is working for us.
The good news is that as your daughter writes more in school, her writing should improve with practice.
