Spin squeezed states are a class of entangled states of spins that have practical applications to precision measurements. In recent years spin squeezing with one-axis twisting (OAT) has been demonstrated experimentally with spinor BECs with more than 10^3 atoms. Although the noise is below the standard quantum limit, the OAT scheme cannot reduce the noise down to the ultimate Heisenberg limit. Here we propose an experimentally feasible scheme based on optimized quantum control to greatly enhance the performance of OAT to approach the Heisenberg limit, requiring only an OAT Hamiltonian and the use of several coherent driving pulses. The scheme is robust against technical noise and can be readily implemented for spinor BECs or trapped ions with current technology.