Free printable Roman numerals worksheets for the numbers 1 to 20, written both ways, with an answer key.
The first twenty Roman numerals use only three letters: I for 1, V for 5 and X for 10. Each question gives either a number to write as a numeral, like 13 = XIII, or a numeral to read as a number, like XVII = 17, and a one-page sheet never repeats a number.
Four of the twenty are the ones students miss: 4, 9, 14 and 19, written IV, IX, XIV and XIX. In each, the I comes before the larger letter and is taken away from it.

Only I, V and X, because 20 is XX. The larger letters L, C, D and M do not appear until the numbers get bigger.
VI, VII and VIII: the V is 5, and one, two or three I's are added after it.
Four I's in a row is replaced by IV, so 14 is X (10) followed by IV (4): XIV.
Curricula differ. Many introduce I to X or I to XX in the primary grades and leave the larger letters for later, which is why this sheet stops at 20.