Actually there is. (besides manual)

Have the pet use up their SP and then have Vicky cast fiery on "your party SP" so set that to 450 or w/e number you want (or w/e the lowest SP is).

The only problem with this though is that when the pet lvls they regain full SP and HP. So unless you have maybe at least 1 pet that will not lvl every lvl like maybe its already lvl 15 or 20+ then its possible to always cast it on that pet at least every fight. So that's a guaranteed pet you can always cast on so you will at least gain exp using that 1 pet. (could help to have that pet wear weight like iron balls or something if you are afraid of it gaining SPD and screwing up combo. As long as pet SPD is under 80 or at least 60 combo should be fine.)