At the moment, clearing the old position then printing is the fastest way to do it http://forum.m5stack.com/topic/173/how-to-avoid-text-flicker/3 you can print to sprite if you use the eSPI library and that'll gain you a few ns on the chip but I think the bottleneck is the SPI protocol, that's what Bodner was saying.
You can wrap the clear and print in a function which will make your code as concise as using an object.