Mac: While it's not without its shortcomings, the iOS multitasking tray is an efficient way to move between apps. If you like it, TaskBoard can replicate the same experience on your Mac.
Once you install TaskBoard, you'll be able to launch the multitasking tray with a custom keyboard shortcut or a five-finger swipe. As you'd expect, you can just click the icon you want to switch to that app. In practice, I found it was tough to use the multitouch gesture without accidentally using four fingers and launching Mission Control, but it's nice to have the option.
In my use, TaskBoard made it quicker to navigate between apps than Mission Control, especially when I had a lot of open windows. If you really like it, you can use an app like BetterTouchTool to map it to Cmd+Tab or a more intuitive gesture. TaskBoard is a free beta, so it's definitely worth giving a try.