I actually used to do the same thing, Amy, except substitute Cubase with Acid. I agree that FL's recording initially isn't quite as intuitive or obvious though, definitely no argument from me there. That being said, when I finally learned how to record in FL, I haven't used any other DAW for it since.
You probably don't have your input monitoring situated the same between FL and Cubase which is causing that notable latency you're talking about. However, the actual latency between your voice/instrument and your computer will exist the same in Cubase as it does in FL (or any other DAW) and depends wholly upon your soundcard/drivers and what your buffer is set to, but certain factors can make it seem like there's a big difference, such as where in the signal chain you're listening back or how big a load your CPU is carrying when you record. To compensate for this natural latency, many soundcards and software programs have ways to listen to the sound at the speed that it's going into your interface, prior to being processed.
The Tascam US-1641 is a good example, because it has a knob that lets you choose if you want to listen to the input directly or post-processing (or both)
I've really never used Cubase, so I'm not sure how it's set up to monitor inputs, but it may be set by default to monitor the direct signal instead of the processed one like FL does.
So anyway, that's probably more response than you needed, but the short answer to your question is "Yes, I've done it before, but I don't now, because I'm too lazy to switch between programs, and I prefer to have everything all in one anyway"
BTW, what kind of soundcard do you you guys use anyway?