Why do you prefer physical hardware over plain paper?
I believe to make an analog with paper, you would:
- Spin up an offline VM with some bitcoin wallet software capable of doing offline signing.
- Import your private key
- Import the transaction data in a controlled matter, e.g QR code
- Sign the transaction
- Transport the signed transaction back to an online device in a controlled manner, e.g QR code
- Publish the transaction with the online device
You would probably not own a hardware wallet without storing the keywords for recovering the private key on paper (or similar). At that point it is more or less how you store the paper that will affect your level of security.
A hardware wallet firewalls your loved ones from that risk.