They have "teeth" to grip the pulley.
I've never had a belt driven car but i did have a 4x4 slash which is a shaft driven vehicle. The way the slash is set up to be modular where you can take 5 screws out of the front and pull the whole front section off to get to the shaft or take 4 screws out to get the rear off, shaft drive seems to be the only way to go. I didnt notice any jerking when taking off or stopping. the shaft is aluminum so i dont really see how there would be any extra weight. The shaft is splined on the inside so it just mates up to its counterpart. doesn't get much simpler than that.