Sorry... I didn't mean that I use treats to encourage them walk to with me when on halter.
But we do like feeding treats, because it's fun for us and they seem to like it.
And for us it works out that when it's time to walk with me/us, they think they might get a treat so they walk with us. (...or maybe they really love us and walk for the love of if, but I doubt it.)
So, by encouraging our horses to like us and be comfortable with us, I can generally walk them anywhere (without having them on a halter) by aligning my leg with their front leg, and commanding them to "walk." This has been especially useful with Nicky, because although it might not bother him that he runs into the side of the stall, I hate it, so at feeding time, I like that I can "steer him" away from the side of the stall. ...or when the rain is loud on the barn roof, I can "steer" him inside without having to mess with a halter.
I guess I'm a klutz. I have a 48-inch Stacy Westfall lunge whip; it's too long. The way the trainer showed me was to backhand "flick" the horse rump to encourage the horse. I never got the hang of it; I also noticed that the trainer threw the thing on the ground frequently when it was in her way. I then tried a little riding quirt; it was too short. So I'm sure it's do-able, I just never got the hang of doing it.