No clips, just straps. No, don't do this on the street. Clipless pedals solved the problem of clips+slotted cleats on the street (thus, clipless), there's no need to recreate that issue. You also don't produce the kind of wattage that the pedal's tension feature can't hold on to. There have been some good threads on this topic, try searching for them.

If you use SPD-SL you can ride around with regular shoes because they offer a decent platform for casual riding.