Assign each student a partner to have discussions during your lesson. Give each student a role. Randomly check for understanding.
Give students white boards or a blank screen on a device. Solve problem or write thought. Hold up answers on a signal.
When asking multiple choice questions, give each choice a sound like clap for A, stomp for B, dance for C, and dance for D.
Yes, I agree with everything Angela said, and I would add that it's important to have a system to track how often you call on each student during whole group lessons. This helps ensure you're not unintentionally favoring the more eager participants.
I also engage all learners by using a variety of teaching methods and activities. I incorporate visual aids, hands-on activities, and small group work to cater to different learning styles.