I love kale and go through bags of it, but it is more of a hassle to cook than other boiled/steamed vegetables, including cabbage.
Steaming it is probably better nutritionally, but I don't find it comes out any less wet.
What I do is steam/boil it and then shake it as dry as I can in a colander. It's easier if you can steam it on its own because you can use the top half of the steamer as a colander, but often I already have other stuff in there, so I end up boiling it.
Once you've drained and shook it, put it into a pan and sprinkle with pepper and maybe throw in a knob of butter. At this point it'll have probably gone a bit cold. Toss the pan around over a hob as it reheats the kale, to distribute the pepper and butter. When it gets hot again, the butter will add flavour and stop it sticking to the pan, and steam will come out. Just keep heating it until it's dry enough to serve and there you have it. Lovely tasting, seasoned kale. The down side is more washing-up to do.