Teach players to look for signals on each pitch. Give team an opportunity to execute and defense a number of plays during a game type situation.
Split your team into 2 squads. One will play offense, one defense, just like a regular game. The defensive team doesn't need a full outfield. You may want to have a coach pitch to move things along.
Similar to a real game, except the 3rd base coach will continually put the game in motion.