Ask HN: Are there any engineering orgs that use incentives?

I came from a sales background, and we were constantly using incentives to improve output from the team... when I moved into software a decade ago I found that incentives programs were basically unused. That seems soooooo weird to me. Does anyone work for a company who will provide any incentives not included in standard compensation (salary, RSUs, bonus, etc)? What are the results like?