Just a fast and easy reference I started as a notepad file for grinding hero skills in SaGa Frontier. Thought it might help others as well.

Since this topic confuses many people new to the series I thought I would update the guide slightly. The essence of sparking is this: All Martial Arts and Sword Arts are learned during battle except for Dream Super Combo. During battle let's say Lute throws a Punch (x), however, instead of using Punch the sparking animation occurs and Lute casts Kick (y) instead. This only will occur if you have open space in your ability list. If your ability list is full you will simply not learn new moves for Swords and Martial Arts. So, Lute's turn came up and he cast Kick successfully. You now permanently have Kick. Different abilities have different ratios that they will learn easier than others. I have tried to use the most efficient and stream-lined manner for learning the most powerful moves. Simply equipping move X will not cause you to learn move Y. You must cast ability X and hope that ability Y activates during the battle. The likelihood that this occurs also raises with the difficulty of your enemy. Outlined below is a road map of sorts. To gain the ability to the right of the > sign use the ability to the left of the > sign during battle.

Quick and easy reference for some of the best Martial Arts skills in game.

Punch sparked gilded hand before pressure point ever has.

DSC requires four moves to work.
Will be availble to use by equipping: Suplex, Giant Swing, Collapse, and Slide at once. NOT sparked.
Punch -> tumble -> suplex -> giant swing
Punch -> tumble -> suplex -> collapse
Punch -> kick -> slide

Ogre Rush sparked Raksha far more often in tests.

Punch -> chop -> backhand -> ogre rush -> Raksha
or
Punch -> pressure point -> gilded hand -> Raksha

Sky Twister
Punch -> kick -> triangle kick -> Sky Twister

Quick and easy reference for some of the best Sword skills in game.

Heaven and Earth
Sword -> double vertical -> sunder -> Heaven and Earth

Twin Gales
Sword -> double vertical -> swallow slice -> tornado slash -> Twin Gales
*You must have two swords equipped of the same type to initiate dual wield skills.

Rosario Imaple
Sword -> thrust -> dead end -> Rosario Impale

Katana moves:

Katana -> shadow reversal -> moonlight cut -> blizzard -> Tres Flores

Spray of life
Katana -> double vertical -> sunder -> turbid current -> Spray of Life

*Sword is a standard attack with a Sword that is not a Katana. Denoted by a straight blade vs. the curved Katana image.

A reference I keep for myself as I grind out the stories in the wonderful classic SaGa Frontier. If this was of any use to anyone out there then I am glad. Happy grinding.