I haven't looked into it yet, but I've heard the Bitkey is a user friendly way to do multisig.

However, if we are not talking about large sums it might be easier to do a single sig and you hold on to the signing device for them.

Using sparrow wallet you can interact with the xpub (depositing, checking balances across accounts and addresses), but can't withdraw without the signing device.

A single cold-card could do this.