I have one of those old commercial grade cutting boards, hard plastic. I lay my wire out facing me and strip of about 6" with my K-Lock knife. Then I grab that part, I just stripped, wnd with my knife facing away from me, I pull the wire through the knife. I can strip it in no time and it is certainly worth the effort to strip the wires.
My method does work best on solid strand wire, NOT multi strand, as it "snags" the wires too easily.