Macs with Touch ID have the option to authenticate for sudo using Touch ID instead of the default password authentication.
This can be enabled manually by editing the relevant PAM file:
sudo vim /etc/pam.d/sudo
Add the following to the top of the list:
auth sufficient pam_tid.so
Press esc, then save and exit
:wq!
This can also be done as a one-liner by running:
sudo sed -i '' '1a\'$'\n''auth sufficient pam_tid.so'$'\n' /etc/pam.d/sudo