Just have a quiz every day. In fact, have _TWO_ quizzes, one at the start of class and one at the end, and take the higher of the two scores. In between the first quiz and the second, work through problems with the students designed to help people that bombed the first test figure out how to pass the second.
We had no lectures, the teacher just gave us a short, concise textbook to read a chapter of every week.
In class time was devoted to discussing and problem solving.
But yes, it only worked because we were a small class of 15 math students