I solder TQFP packages by hand all the time. Yes, the draw soldering method is the way to go. Also make sure that your tip is sufficiently large. IDK why but this method doesn't work well with a fine tip for me. MOST IMPORTANTLY, make sure to use a good flux on the pcb pads and on the pins. I can't stress how important this is. Lastly, use as little solder as possible to avoid bridges. With a bit of practice, you can solder these no problem w/out bridges. If you do get bridges, just use solder wick to wick off excessive solder.
Of course, investing time/effort into a solder paste/hot plate method might be better in the long run if you want to solder leadless packages.
By the way, I use flux pens that were given to me. Can anyone recommend a good flux, especially one that is easy to clean off?
Matt