in general, if you have a compatible (https://help.eset.com/esa/27/en-US/hard_tokens.html?zoom_highlightsub=hard) hard token there are two ways:
1. User has a hard token with a small display, when OTPs are displayed. He re-types the current on into the second factor prompt during the login process
2. User, when prompted with the second factor during the login process, inserts the key into the USB port and touch a button on the key and it automatically re-types the OTP into the second factor prompt for him, no need to re-type it manually (e.g. Yubikeys).