You ultimately need to reach the torque value for that part, in order for it to not come loose. Torque to yield is something like 32-40 newton meters depending on thread size, which obviously doesn't work for us on bicycles (and it would probably damage the frame/hub, since it's not built for it). In most cases 10-15nm for a bolted 12mm axle is enough that you only need to look into it occasionally. There are a few ways to deal with your 'coming loose' problem, and one of them is to tighten the preload (in conjunction with lubing the cam, which will help). The other is to address the problem from the other end, and add some fixative to the threaded portion of the axle; QR nuts typically have a nylon insert--it may be worn/not present on your axle. Typical threadlocking compounds are far too aggressive, so you would want to get a purple, for instance, which would still be hand-turnable. You might also try beeswax before that, which serves an almost identical purpose. Grab a small piece, warm it kneading until pliable, then mash firmly into the axle threads.
I appreciate that sometimes fangled/serrated washers are necessary, but this isn't a case where that is true, since there shouldn't be any kind of rotational load placed on the axle itself. They also chew carbon fiber(?) which is why you typically see newer road frames coming with 1) bonded/loose washers 2) smooth faces on the axles.