Had something like this at Google. There's a service running as root (or equivalent) which receives your desired command to run, and it has to get authorization from another user for the specific command to run, then runs it. That makes sense at Google, because those are production machines and have access to LDAP and who is allowed to run a command on a machine is defined by an LDAP group and you would need two of them (or more?) and there's already existing management website this can be shoe-horned into.

Your environment is unlikely to have all of that already, so you'll need to figure out equivalents for all those. But I think you're going to need a local service running as root and it's going to need to be able to tell the difference between distinct human users, if you want secure. Just typos is way easier.