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In MuseScore, use the voices tool (the same is true for Finale and NoteFlight, though the specific process is a little different):

Typesetting a keyboard-style voice-leading exercise in MuseScore from Kris Shaffer on Vimeo.

In Lilypond, use the keyboard-style voice-leading template:

Typesetting a keyboard-style voice-leading exercise in Lilypond from Kris Shaffer on Vimeo.

Technology and teaching resources
Melodic dictation demo
Technology and teaching resources
Creating a musical graphic and importing it into a text document