Set up infield with extra players lining up behind the positions and rotating in. Two first basemen line up at first base, one on the outfield side of the bag and one on the infield side. Two coaches at home plate. One coach fungos to the third baseman who fields and throws to the first baseman lined up on the infield side of first base. The other coach fungos to second and shortstop who make double plays - second to first - to the first baseman on the outfield side of the bag.
The drill moves quickly and gives the players many opportunities. If they muff a play, they'll get another chance very quickly. It helps a lot if you have many balls. The first basemen can drop the balls in a bucket behind them and get ready for the next throw.