The only way is to leave them alone to learn cause and effectr and proper application of it.
The problem is that someone will prevent that, and derail their maturation with promises of entitlement.

In truth theres no way to guarantee their emotional maturation until maybe after theyve fucked up and collected the string of baby daddies and addictions to consumerism and expectations of being pampered.

Of course some with recoil in horror from this explanation saying they are carrying the load for themselves, conveniently forgetting that they are plundering the society with their bastard children and their unearned support and compensation for their lifetime of screwups.