Our boat has twin 15 gallon diesel tanks but no guages. The prior owner had made up a wooden dip stick, painted white from its tip up to the point that the tank was full (first time - fill tank, dip stick, mark where fuel ends, dry and paint), and marked with a sharpie pen at 1/4, 1/2 and 3/4 levels. Dips through the deck fill.
I have to admit I had a bit of trouble actually seeing the wet fuel on the stick. So, I hunted around on-line and found 1/4" clear polycarbonate tubing, lined a suitable length up with the dipstick and marked it with a sharpie pen. Now, I dip the clear tube through the deck fill until it touches the bottom of the tank, put my moistened finger over the upper end of the tube to seal it, and lift the tube out - it's easy to see the diesel fuel through the clear tubing.
Obviously this is pretty much only good at anchor or at the dock. I still keep track of run times and know my consumption rate (3/4 gallon/hour at cruise RPM) so I can keep track of consumption while under way.
When filling the tanks, I stick, guesstimate the amount of fuel needed to tank up, and slowly fill. Always ready with an absorbant pad to catch any overspill.
Oh, and to keep track of which tank I'm on, I use an el-cheapo hook and loop fastener around a bimini support tube on whichever side the tank is I'm using. Beats having to open up the cockpit lockers to check which tank is on, particularly if the boat has been sitting at the dock for awhile. I also enter in the log whenever I switch the tanks so I can try to keep track.