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Use chalk paint.
Lots of chalk paints say you don't have to sand before painting. That's probably what you have in mind.
You could chalk paint them. Chalk paint requires no sanding beforehand. We did this to our dining room chairs: https://www.aratariathome.com/blog/dining-room-chairs
Wash down with TSP. Use Rustoleum chalk paint and their clear top coat. Has to be top coated or will wash off.