That's what I do, I only use light pressure when shifting and let the next gear engage when its ready to. Perhaps that's the reason I have never managed to grind, even the times I didn't use the clutch properly. From my understanding if enough force is used it's possible to push your way past the synchros and force the gear to engage (or attempt to) even if the speeds aren't yet matched. Maybe that's how people manage to grind modern synchronized transmissions
That's part of it, but some have underperforming synchros aswell. But YES, offer the gear stick up to the gear you want and when it's good and ready the gear will fall in.