I am not sure if there is a way to without hacking, so I would like to know.
Example: If I turned down Lugia learning Ancient Power, and I changed my mind, and I was too lazy to find a Heart Scale, would I just have to go find one anyway?
Yes, unfortunately you have to bust your butt finding Heart Scales because there is absolutely no way to take your Pokémon down a level. The only way to do this is, as you said, by modifying them via hacking or genning.
Source: Knowledge