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From https://apdt.com/about/position-statements/ :

"'LIMA' is an acronym for the phrase 'least intrusive, minimally aversive'. LIMA describes a trainer or behavior consultant who uses the least intrusive, minimally aversive strategy out of a set of humane and effective tactics likely to succeed in achieving a training or behavior change objective. LIMA adherence also requires consultants to be adequately educated and skilled in order to ensure that the least intrusive and aversive procedure is used. 1

LIMA does not justify the use of punishment in lieu of other effective interventions and strategies. In the vast majority of cases, desired behavior change can be affected by focusing on the animal’s environment, physical well-being, and operant and classical interventions such as differential reinforcement of an alternative behavior, desensitization, and counter-conditioning."

Short answer: probably a body harness. These can be used on a regular basis with significantly less risk of injury than other equipment and are the most comfortable option for dogs.

I do not recommend head harnesses unless in the case of an extreme puller, so much so that there is a risk of losing control or even injury to the handler. I also do not recommend the use of a head harness without proper training to condition your dog to being comfortable wearing it first.