Hold training sessions on proposal writing and budget management. Involve research project leaders and management team members. Discuss guidelines for proposals (such as whether proposals must include estimates of total cost of production). Set expectations for reporting on and meeting project budgets.
Discuss management soft skills with the management team. Require team members to role play through potential R&D department situations such as developing a marketable idea from a concept or requesting clarification for technical details.
Host brown-bag lunches for R&D personnel to express their managerial preferences and desires to the management team. Talk over and make notes on any points that have been brought up and consider adopting these practices.