SPD and road, touring, or mtb shoes. Quite a few road shoes come with holes and a plate for mounting two-hole cleats like SPDs. Touring shoes have a smooth rubber sole on each side of the cleat to facilitate more normal walking. MTB shoes have aggressively lugged soles that also permit more normal walking. Good/high quality shoes are available in any of these types.

IMO, road cleats are generally big and cumbersome with no significant advantages.