Mac

For macOS Ventura 13.x and below, see How to use sudo with Touch ID on a Mac.

Update!

For macOS Sonoma 14.x and above, see How to use sudo with Touch ID on a Mac using macOS Sonoma 14.x or above. 

This article is for macOS Ventura 13.x and below.

Explanation

The general idea is to edit the Pluggable Authentication Module (PAM) daemon sudo config file, and add the Touch ID module as the first type of authentication presented.