Ethnic minority pupils in Hong Kong who embarked on a mainland study tour under a new visa-free scheme said they had acquired much knowledge about the country's culture.

The group of more than 20 students from Yaumati Kaifong Association School returned to the SAR after a three-day trip across Guangdong province, designed to foster a deeper understanding of the nation.

They learnt about martial arts, paper-cutting and Chinese calligraphy, among others.

"I really enjoyed Chinese calligraphy. It's fun, beautiful and creative," said nine-year-old Dangal Zane, who learnt to write the Chinese character for "family".

"Now I know more about Chinese culture and arts."

Her schoolmate Limbu Maeson, 12, said the trip inspired him to contemplate living across the border.

"In the future, maybe I'll decide to work there, because there are a lot of businesses," he said. "I feel like the education is more intense in China, because of the exams. Besides that, maybe it will be a good shot."

Maeson, just like others on the exchange tour, crossed the border using a new travel permit for permanent residents with foreign passports.

"Last time when we went to China, it took way longer and we were stressed out about what if we didn't make it," he said, adding that it only took him a minute to pass through immigration this time round.

Cheung Ka-ho, a school manager who led the tour, had nothing but praise for the new travel scheme for non-Chinese SAR residents.

"In the past, they did not even have the chance to sign up for an exchange tour due to the lack of a permit," he said.

"But that's not the case anymore. They could sign up for these tours ... so that they have more opportunities to take part in the country's development and observe the progress by travelling to the mainland."

Starting from July, Hong Kong and Macau permanent residents who are not Chinese citizens can apply for a five-year permit to enter the mainland for short-term purposes such as business, tourism and exchanges.