listing custom taxonomy

Right now I’m using the following code to list my ‘Skills’ taxonomy:

<?php echo get_the_term_list( get_the_ID(), 'Skills', '', ', ' ) ?>

I have three questions:

• Is that the correct (most elegant) way to write that?
• Also, is there a way to list the parent category first separated by a pipe with the children categories after that? Like this: Illustration | Charcoal, Watercolor, Pen
• Is there a way to have the categories NOT linked text?