Yes. 2D/3D methods with quad/hex only elements exist. Gresho and Sani's book: "Gresho, P. M. (Philip M.), Robert L. Sani, and M. S. Engelman. Incompressible Flow and the Finite Element Method : Advection-Diffusion and Isothermal Laminar Flow; P.M. Gresho, R.L. Sani, in Collaboration with M.S. Engelman. Chichester;: Wiley, 1998", has a table of the stable elements for the mixed-Galerkin method that were well known at the time of its publication and the problems with other elements. The whole scheme is laid out therein. I can only give you the link to the basic source since I'm working from home due to COVID-19, otherwise I'd give you a summary of the table and a tighter reference. My institution (UT Austin) has an electronic copy available to me, but you might be able to find it via yours. It appears to have been split into two volumes now. I found my copy used many years ago, but I think, looking at the table of contents, that Volume Two might be what you're looking for.