SWMBO and I take great pride that we sail on and off the anchor. (We have not had the opportunity to do it on the Francis Lee yet, but we did it all the time on our Swede55.)
We would shorten sail as we entered the anchorage (usually by rolling up the jib) and then carefully pick a good spot away from others as we sailed into the anchorage. We would usually drop the anchor off the bow as we sailed slowly downwind and let the anchor catch us and spin us around head to wind, then we dropped the main. Simple and virtually fool proof as long as you keep the speed down. One or two knots of boat speed will set the anchor just fine, no need for any more. And it looks very dignified at low speed.
Sailing in under jib alone is also very effective (especially if you have roller furling).
But the key is to take your time and keep the boat speed low.
Sailing off is fairly simple, set the sails with the sheets loose, shorten up the anchor rode until it is straight up and down, sheet in a little on the main or jib to break out the anchor, hoist the anchor as you slowly sail around and then harden up the sheets and sail away. Just takes planning as to where you can go safety as you deal with the anchor. Sometimes I simply dragged the anchor through the water until we were clear of other boats and obstructions. Good way to get it cleaned off before you stow it.
When we anchor off the stern on the Francis Lee, we will come in under jib alone and keep rolling it up until we have the proper dignified boat speed to get the anchor to set.
On a side note, we once ran out of fuel in the Swede. (I was told we had a 30 gallons tank, it turned out to be more like 18 gallons. Damn listing yacht broker!) So we sailed into the Roche Harbor fuel dock under jib alone and we rolled it up as we approached until we had a nice 1 knot of boat speed. I had spring lines all rigged and waiting and it was a none event. Nice skill to have in your bag of tricks.
We have sailed the Francis Lee into her home dock now several times. The key there is also slowing down the boat speed and having spring lines rigged and ready.
Practice it where you have lots of room, you will be surprised how easy and handy it is.