e.g. Photochrome on the Atari ST, was especially impressive at the time: https://www.youtube.com/watch?v=vPsY4P8bnVw
The most extreme version I've seen of this was on the ZX Spectrum, which had not only a very limited 15 colour palette, but also limited to 2 colours within each 8x8 block of the screen. Some bright spark came up with the idea of flipping rapidly between R, G, and B frames to give (limited) per-pixel RGB. Unfortunately it did flicker quite badly because of the extreme changes in colour levels (only two levels of each channel), and the fact that it required 3 whole frames to make a single colour virtual frame.
Example here: (not suitable if you have photosenstive epilepsy!) https://en.wikipedia.org/wiki/File:Parrot_rgb3.gif