Perhaps you should try a Piano Roll.
It's all MIDI, and generally you just click in notes with a mouse instead of playing it in real time. When I first started, that's how I composed since I really have never been good at piano. The plus is that everything is locked in the right place so that it's impossible to make a "mistake" (if you believe in musical mistakes, that is). Most DAWs offer both a piano roll and a stave system.
Formal composition in the "I'm writing a symphony, hur hur!" manner is something that takes a lot of studying honestly. I rarely bother with proper forms when I write- if it ends up a ABACA versus a ABCBA, I worry not; if it ends up bad versus good, however, I do try to pay attention. It's okay when you're composing to ignore "rules"; that's how music has always evolved. However, sticking to some of the rules (cadences, progressions, "acceptable" non-chordal tones, relative key changes, etc.) is a good way to get going if you've been arranging or melody writing for a long time... besides, a lot of modern music (pop, rock, rap, etc.) is based on various forms.
If you're going to hand-write something, do small ensembles and make a rough draft of the score where you can scribble in chords easily and all that before you tackle a final score. I once did a 40-measure hand written score for Band for Music Theory, and it took forever. I would honestly recommend keeping within the realm of digital music via DAWs that have a scoring ability (most do).
But hey, I've only made the full score for maybe five or six of my pieces... most of my "scores" are hardly readable jumbles of "block chords" and untransposed instruments.
If you're composing for a small game or for fun, you don't need to make a score (unless you want to have something to wave in the faces of friends or toss in front of future clients). All that matters in most cases is the sound.
When writing for an orchestra, epic music or not, you're doing a lot more work than you assume at first. Even with a rough score, it takes me a good few hours to make sure it's all notated right. If you want to try your hand at scoring full things, you have to be ready to spend a heck of a lot of time thinking things through and looking at ranges of instruments online and such.