Andrew Stacey's homepage includes a wonderful guide on drawing fraktur here.
Here's a copy of the video illustrating it there:
P.S. Adding more features to the above can often be helpful in differentiating these from the Latin script. For example, I've found it helpful to handwrite $\mathfrak{p}$, $\mathfrak{q}$, and $\mathfrak{m}$ like this:
