I see three ways other than PKs to decide a match. . .
1) Successive 10-minute overtimes. Play one, if it's still a draw at the end, play another, etc. This is what they do in NBA basketball (the overtimes are five minutes each).
2) Sudden death. You play until there's a goal, under the regular rules. First goal wins.
3) Corners. One side gets a corner kick, then they play until there's a goal or the defense clears the ball beyond the mid-pitch line. Then the other team tries it. Either sudden death or the other side gets one chance to respond.