Ian's Knot [1] not only is super-fast (once you've learned it properly), it also ensures you are tying a strong knot.
Also, a heel lock [2] is a independent thing which is also good to learn.
[1] https://www.fieggen.com/shoelace/ianknot.htm
[2] https://www.youtube.com/watch?v=OBbc6TackDQI've taught all of my children to do it this way. Super fast, reliable way to tie a square knotted bow.
Though it is somewhat of a misnomer that it is called an 'Ian knot', because it isn't a novel knot, rather a technique to arrive at one already commonly known.
This knot will not come undone:
https://www.fieggen.com/shoelace/secureknot.htm
And you can still untie by pulling on one of the ends. Though you have to make sure that while untying, you don't allow the loop to go over the other end of the shoelace.
To be honest, the kind of shoes I'm mostly wearing nowadays work very well without having to untie and retie the knot, so I don't do that very often anyway.