I was lucky to attend a liberal arts college with a large and extremely pedagogy focused mathematics department, and all of my math classes there were like this. Engaging lectures, if I listened and wrote down everything on the board I would be able to get a B on the exams, even if I skimped on practice. Made it all the way to measure theory this way. They included in class group practice integrated with the lectures, which definitely helped.
St. Olaf College for those wondering.