I think the key is not force or reasoning - it's consequence
Most education failures are the result of a lack of consequence. The one and same issue is treated differently, in accordance with 'daily form' or, between parents, due to differing priorities or values.
And, in a figurative way, you learn best when it hurts. By that I do not mean beating, but living the consequence of ones doing. If the child is told not to touch the fire, because it may hurt, the child will touch it anyway - and desist in future, because of the experience. Same goes with other, more abstract things - there is a limit up to what you can, or should, be protective - the best teacher is own experience. (Though one can, and should, steer and mitigate the hurting experience)
On moral issues that does not work that easily. Here the best teacher - imo - is living example, which would put the main burden on parents, naturally. I was quite shocked to see a couple that rather often disputed amaong themselves, in quite cynical and offensive verbiage (no force though), where both were aghast that their child talked back to them, in what they considered a 'terrible tone it must have picked up in school'.
