My regular cycle is to talk informally to the CLI agent and ask it to “say back to me what you understood”, and it almost always produces a nice clean and clear version. This simultaneously works as confirmation of its understanding and also as a sort of spec which likely helps keep the agent on track.
UPDATE - just tried handy with Parakeet v3, and it works really well too, so I'll use this instead of VoiceInk for a few days. I just also discovered that turning on the "debug" UI with Cmd-shift-D shows additional options like post processing and appending trailing space.