Solid-state quantum registers consisting of optically active electron spins with nearby nuclear spins are promising building blocks for future quantum technologies. For electron spin-1 registers, dynamical decoupling (DD) quantum gates have been developed that enable the precise control of multiple nuclear spin qubits. However, for the important class of electron spin-1/2 systems, this control method suffers from intrinsic selectivity limitations, resulting in reduced nuclear spin gate fidelities. Here, we demonstrate improved control of single nuclear spins by an electron spin-1/2 using dynamically decoupled radio-frequency (DDRF) gates. We make use of the electron spin-1/2 of a diamond tin-vacancy center, showing high-fidelity single-qubit gates, single-shot readout, and spin coherence beyond a millisecond. The DD control is used as a benchmark to observe and control a single 31C nuclear spin. Using the DDRF control method, we demonstrate improved control on that spin. In addition, we find and control an additional nuclear spin that is insensitive to the DD control method. Using these DDRF gates, we show entanglement between the electron and the nuclear spin with 72(3)% state fidelity. Our extensive simulations indicate that DDRF gate fidelities well in excess are feasible. Finally, we employ time-resolved photon detection during readout to quantify the hyperfine coupling for the electron's optically excited state. Our work provides key insights into the challenges and opportunities for nuclear spin control in electron spin-1/2 systems, opening the door to multiqubit experiments on these promising qubit platforms.