List pages or menu without markup

I’m trying to output the pages of my website or a menu but without the
<ul> markup etc.

I need it to be output similar to the following:

<nav>
	<span><a href="#">Testimonials</a></span>
	<span><a href="#">Get in Touch</a></span>
	<span><a href="#">Some Additional Page</a></span>
</nav>

But WordPress automatically wraps everything in a list. Is there a way to do this?

I tried the ‘link_before’ and ‘link_after’ parameters with wp_nav_menuhowever it still wrapped each item with

<li></li>
</ul>

[Please post code snippets between backticks or use the code button.]