There's RocketBook. I use it pretty regularly, but you aren't left with a hard copy if that's your preference — unless you print the results.

You could of course also just use a doc scanner on your phone and keep your hardcopy notebook instead.

https://getrocketbook.com/

I picked it up during the Kickstarter campaign. If it has one advantage, it will auto-send your notes to one/more preset destinations out of seven, like email it to you or someone else, send to Evernote, OneNote, etc. It's worked alright for me so far.

I never much liked the writing on glass feeling, either. Growing up I was a bibliophile and always preferred working with paper. I'm trying this out as a happy middle.