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> My mom took my sister and I to a Quaker "meeting" (not church) when we were young and I had the impression that you actually didn't have to believe in God/Jesus.

This is very much the case. Quakers are very open about the fact that their meetings are open to everyone who is willing to sit quietly.

Like most denominations there is a lot of variation amongst Quakers. There are meetings that are virtually atheists & those that are downright fundamentalist.

Unitarian is a similar option. It's sort of like a book club, except no one ever has to pick a book, from what I understand.

Too bad you have to believe the tenets of the religion? If you're complaining about that consider joining a club / fraternal organization instead.