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Mathematics educational researchers have long offered recommendations for effective mathematics teaching, learning, and assessment, yet educators still struggle to implement fair and practical assessments that promote engagement and inspire students. This study describes assessments that (1) reduced anxiety, frustration, and rote imitation of procedures; (2) increased accessibility, motivation, and psychological resilience; and (3) improved engagement, strategic competence, self-assessment, and depth of understanding. Writing assignments prompted students to explain their reasoning about problems or their understanding of main ideas. Students revisited assignments in response to feedback and resubmitted them later in the course, which motivated students to deepen their understanding over time. Sample assignments, responses, and lessons learned will be shared.