USNews has rankings for undergraduate teaching. Any such ranking will be imperfect, but they probably have access to more data than individuals posting here.
If you want, you could make sure the schools don’t appear on the top research university lists - there are sites that rank schools by number and quality of publications and cites.
As with “overall” rankings, these may or may not apply to specific programs, courses, instructors, etc.
My D is at a school in the top 25 of the USN undergrad teaching ranking and has been satisfied with a majority of her professors. It doesn’t bother her or me that they are also a world-class research university.
FWIW, Princeton is #1, Brown #3, Dartmouth #5, Yale #14 and I’ve never been under the impression that students come out of Ivies having been poorly taught. What is “bad at teaching undergraduates” based on?