To teach our new goalies how to punt I have them say "I will kick now" and step out each word. If they kick with the right they will step first with the left on "I". On "now" I remind them to point their toe and make it go. This helps them to have a pace, concentrate and not miss (as much anyway). You can substitute "now" with "ball" or "hard" or "far" -- whatever works for your group. Consistency is key.