A most efficient insurance program would be a closed loop.
Any leftover money not spent on care would be used to reduce premiums the following year and/or be saved for higher claim years.
I wonder how that could exist in the US? Perhaps these health sharing ministries are as close as we'll get: https://www.medishare.com/
However, I don't think the problem is truly fixable without Medicare for all or similar single payer scheme. There is just a huge gap in not just bargaining power but just knowledge of the market information between the seller (hospitals and health care providers) and the buyers (sick people) that a free market solution can't even work in theory. Even if you ignore the fact that I can't exactly shop around when I have an emergency any more than I can shop around when my house is on fire. The only viable solution is single payer and the sooner we get there, the better for everyone.
https://www.nbcnews.com/health/health-care/health-care-cost-...
Commercial insurers are already required to rebate premiums if their medical loss ratio is below the limit.
https://www.cms.gov/marketplace/private-health-insurance/med...