I have clipless pedals and like the others, really like them. I have a pair of Shimano shoes that look a bit like a cross-trainer shoe with the cleat inset into the bottom. They are pretty stiff, but still okay for short walks.

My pedals are Shimano on one bike and Bike Nashbar on the other. They can be adjusted to cant out a bit and the tension can be adjusted also to make them easier to release.

Once you get used to twisting your foot out, you'll be fine, but I admit falling once or twice and fell at least once with toe clips too because I had them strapped down.