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I don't think there is any reliable way. There are events though, like the Hindu events mentioned. I remember having a event about Jesuit education for heir, and also a general education for heir event.
The Prussian monarchy gives +3 to Mil to any newly generated ruler.
The celestial empire gives you +1 adm to any newly generated ruler if you pass the reform.
There are also some rare events that can improve the stats your heir. (I think these might only fire in a regency, though im not at all sure of that.)
Prussian goverment(or Mamluk with CoC) and Hindu religion, the Hindu bonuses from events arent very reliable though. Im pretty sure the Ottoman goverment form has events to improve stats on heirs as well.