The horses learn the verbal cues on the lunge line so when riding we ask with our leg how we typically ask a horse to canter and at the same time we say canter. They know that it at least means go faster for some of them but others canter right away as they know what canter means lunging.

I do just about the same as Eclipse and Prospect mentioned, by the time we get through ground work they at least know a verbal cue for all gaits and what "whoa" means. Although I prefer to use a round pen, that is the difference, so not really a big difference at all.

If I'm on a baby that is hesitant to go into the canter, I really try to let them know that this is *okay* and ask them to go forward through verbal cue/kissing, I'll really exaggerate the reins being forward, and my seat will be giving the canter cue but also be light and forward at the same time (if that makes sense?) to free up the backend. Also, I'll try to keep my heels off for the first few times, because I'm already giving a lot of aids and don't want the young one to become confused, leading to rearing/other problems out of frustration. I've also found that most babies who have trouble with the idea of cantering for the first time, they turn out to be very respectful mounts later in life if you don't bully them into cantering by scaring them.

Two more ideas from me, one is if I'm the first person to ride the horse on their first time being backed, as long as they aren't in panic mode I allow them to pick their gait as long as they are moving forward and responding the directional rein. My other thought is, I like them to be very balanced in their trot before asking for a formal first time canter. If the horse isn't balanced, it'll have a hard time going into a canter with a rider and you may have to scare him into it, which I find is where you run into panic mode. Some babies are just well muscled and balanced by luck, others aren't so you need to be aware of that from the ground.

Just my thoughts, great topic!