Which countries in Europe have teaching positions that do not require doing research?
Germany has "Akademischer Rat", which can be permanent or nonpermanent. Depending on the faculty, it can contain various combinations of research, teaching and administration -- permanent "Akademischer Rat" positions in the sciences often consist purely of teaching and administration, but they are rare these days.

Furthermore, the German "Fachhochschule" or "Hochschule" offers professorships which consist mainly of teaching, but they require at least 3 years of working experience in industry.