That depends on your goal. If you are performing Kata and want to be fast and smooth then just practice the Kata over and over and over again.
If you are sparring and want to be hitting harder and faster then you will NEED equipment. You need 16oz boxing gloves, a heavy bag, and a good set of shin and instep pads. Then you work the heavy bag fast and hard for 20-30 minutes every day.
The best way to get better at punching and kicking is to punch and kick.
And for reference I'm a 1st Dan BB in taekwondo and I'm currently taking Brazillian Jiu Jitsu classes at an MMA gym.
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