Either
SH-51 or
SH-56
Similar non-Shimano cleats may or may not work well
SH_51 are standard twist to release cleats
SH-56 are the "multi-release" cleats, and will release if you panic and pull hard without a proper twist. The downside is that you can pull your foot out on a steep hill if you pull up on the pedal for more oomph.