Systems that provide receipts effectively do this. There are some details to ensure that the receipt/verification system doesn't reveal the actual vote to prevent vote selling or coercion. See ThreeBallot[0], Scantegrity[1], and Prêt à Voter[2] for examples.
[0]: https://en.wikipedia.org/wiki/ThreeBallot
[1]: https://en.wikipedia.org/wiki/Scantegrity
[2]: https://en.wikipedia.org/wiki/Prêt_à_Voter