A woman gains skill in parenting each time she kisses a man. How many times it is before she become a master I've no idea, but it is probably in the thousands. She doesn't have to have any babies to become a master; I've often had master parents who have never had a baby if the population has been at the maximum.
Dropping the woman on a likely-looking man several times in succession probably will work best in increasing parenting skills. Every time they kiss she gains skill. The main problem is when the population is at maximum; you'll get a message that there is not enough housing available pop up each time. That has to be okayed before you can pick her up and drop her on the man again. Telling a story to/teaching the children also increases their skill, but takes much longer.
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To err is human; to arr is pirate.