If it's worth saying, but not worth its own post (even in Discussion), then it goes here.
Would it be fair to rephrase your question as "How can we make receiving constructive criticism feel good?"
Yes.
I have a strong intuition that making it feel good, or even just less bad, might take away some of its usefulness and make it less memorable. Actually, if it felt good instead of just less bad, wouldn't that incentivize you to make more mistakes?
There are individual differences in sensitivity to criticism, so your advice should be mainly aimed at people who are oversensitive in this regard.