I don't want to hijack your thread or start another oil argument, but what kind of oil do you use? Some transmission problems can be traced to the wrong or "cheap" oils. I have used Honda's HP4 w/ Moly. It is a blend of petroleum and synthetic oils. It is approved for all of our type of bike excluding automatics and anything with a centrifugal(automatic) clutch. When I started using this oil, I immediately noticed smoother shifting. I worked at a dealer for 11 years, and I always got good feedback when I convinced someone to try it. It's expensive, but I feel my baby is worth it. And being a synthetic, it will last longer.
Answering your question, I also shift w/o a clutch. Increasing your level of lubrication will help in this practice. Just don't force it.
BTW, what bike do you have?
And also, check your clutch cable. Unless it a compitition clutch w/ H/D springs, it shouldn't be that tough to pull.