Not heard of the Penang Approach, but here's a good one for a PA28... (maybe this is it?!)
Full flaps, power to idle and 55kts. No need to slip. You come down like a rock, and have just enough of a margin above stalling to round out smoothly. Don't be scared by the "ground rush" and start pitching up early, just keep at 55kts and round out smoothly and firmly at about 20'.
The "Penang" approach is probably more of a corkscrewing dive though, of the type used by the military to avoid anti-aircraft fire. Something like the "steep spiral dive" manoeuvre in the FAA Commercial syllabus.