Most pedals, even with loose straps, easy in, easy out. It takes a shoe with a thicker, somewhat squishy sole (like a running shoe) to get clips tight enough to be difficult to remove most ordinary shoes, IME.

Run old school leather cycling shoes with slotted cleats in a real road or track pedal with clips and straps, then you're locked in 'til you reach down and loosen those straps, though.