All the time, but with LOTS of open space, and we start with VERY small controller movements.
I usually have people just use the left stick first. Right thumb TOTALLY off the right stick!
Rotate right, rotate left. That gives them a very good idea of the stick response, without endangering the aircraft. I have them rotate 'till they can make a very slow, controlled rotation. After that, I've never had a problem with heavy-sticking.
Then we go to up - controlled ascents from 50->100' or so, and very slow descents back to 50'.
Once they've got that, it's time for right-stick only translation maneuvers left and right, then forward and away, all in a nose-away setup.
Almost anyone can do these successfully, feel like they had a good flight experience, and the chances of them pranging the aircraft are low. Stick-jammers who just can't lay off the controls show themselves VERY quickly on the rotate-only maneuver, and if they can't chill out after a couple reminders, don't get to go farther.