For me personally, Specialized's entry level mountain bike shoes have been the best. Shoes with a "softer" sole give me knee problems, and for some reason these particular shoes don't give me foot pain (though that's very person-specific, but I've pretty much given up on finding Specialized road shoes that work, been through Sidi, Specialized, and 3 different insoles there).

They've been good for walking into work, walking through a grocery store and shopping, etc, though I wouldn't go on a hike with them. Velco straps, not laces.

I have an older model, here's a link to the current model (note that there's a black model, it's just not the first picture) -
Specialized Bicycle Components