If the company isn't going to sign the contract ever then what it is that they want you to sign? Is the company asking you to sign their version of terms & conditions? If yes, then you need to be a bit cautious in terms of reading between and behind the lines.

I don't get it when you say "Several staff members of the companies want to avoid their legal department". Are you trying to sell to individuals in an organization apart from organization itself?

Looking for any specific input? Do feel free to reach out.