I use a shoe by Specialized that has a normal rubber sole with a recessed clip...similar to these...except mine look more like street shoes with laces.

http://s.wiggle.co.uk/images/spec%206127-13%20med.jpg

They work very well. I can wear them around and you have no idea they are cycling shoes. I also have pedals with flats on one side and spd on the other on my comuter/town bike. I can jump on with tennis shoes, I can ride without clipping in with my Specialized shoes or I can choose to clip in.