The 2-step verification process, while sometimes inconvenient, is important for keeping your data safe. If you're using the same computer it will only ask for 2-factor verification if it's a different user than the last time, or if you manually selected "sign out" the time before.
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​All sign-ins expire automatically after 30 minutes of inactivity.

However, to make this better instead you can invite "members" to be a part of your organization for free. This allows them to have their own login and use their own phone number or email for the 2-step login process.

Anyone who is an admin on the organization can invite people to join the team from the "members" tab on the lower left.
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