Can people be forced to be good in society?

Would the enforcement of Kant’s moral directive—or any similar principle, religion, or ideology promoting kindness and goodness—lead to a more rational, principled society? Or would the measures necessary to enforce such ideals result in a restrictive, soulless, or even rebellious society?
If society were left without laws, would things naturally balance out for the better or worse? Does the answer lie in human nature? Do we need to be coerced, educated, or manipulated through fear to act with kindness and justice towards one another?
We celebrate the idea of living in peace and justice. We resonate with John Lennon’s "Imagine," we love the idea of happy endings in movies, and we aspire to utopian ideals. So why doesn't society naturally gravitate toward these values?
Are there invisible forces or “goading demons” at play? If so, what—or who—are they?
Kant’s moral philosophy suggests that if everyone acted according to principles they believe could be universally applied, we would see greater consistency and fairness in how people treat one another. This could indeed foster peace and productivity—if individuals voluntarily internalize these principles.
However, the challenge arises with "enforcing" such a directive. Imposing Kantian ethics or any moral system, whether religious or secular, as law could easily feel authoritarian. Even Kant’s system, based on rationality rather than divine command, risks suppressing individual freedom when people inevitably disagree on what should be universalized.
The key question, then, is whether such a moral directive can be embraced through education, reason, and voluntary adoption, rather than through force. Enforcement risks becoming another form of imposed ideology, which could stifle personal freedom and creativity.
So, can people be coerced into goodness? Or do we need to rely on reason and moral self-awareness to lead us toward ethical living? Would enforcing a moral code bring about a more just society, or does the very act of enforcement undermine the very ideals it seeks to promote?