I use one called APE on my S1 and it's supposed to be S2 capable as well. It's a bit different than others in that it doesn't try to learn individual handwriting skills or methods but uses pre set grids and lettering but is pretty darn forgiving for style and sloppiness.
Here's a link to their website explaining how to use it. I was writing entire paragraphs in about a half an hour, using punctuation and other things along when letters and numbers
http://www.outofnoware.com/apehelp/
Hope that helps