Reliable subseasonal-to-seasonal (S2S) precipitation prediction is highly desired due to the great socioeconomical implications, yet it remains one of the most challenging topics in the weather/climate prediction research area. As part of the Impact of Initialized Land Temperature and Snowpack on Sub-seasonal to Seasonal Prediction (LS4P) project of the Global Energy and Water Exchanges (GEWEX) program, twenty-one climate models follow the LS4P protocol to quantify the impact of the Tibetan Plateau (TP) land surface temperature/subsurface temperature (LST/SUBT) springtime anomalies on the global summertime precipitation. We find that nudging towards reanalysis winds is crucial for climate models to generate atmosphere and land surface initial conditions close to observations, which is necessary for meaningful S2S applications. Simulations with nudged initial conditions can better capture the summer precipitation responses to the imposed TP LST/SUBT spring anomalies at hotspot regions all over the world. Further analyses show that the enhanced S2S prediction skill is largely attributable to the substantially improved initialization of the Tibetan Plateau-Rocky Mountain Circumglobal (TRC) wave train pattern in the atmosphere. This study highlights the important role that initial condition plays in the S2S prediction and suggests that data assimilation technique (e.g., nudging) should be adopted to initialize climate models to improve their S2S prediction.