Gravitational’s Teleport seems pretty good, but it’s heavyweight and doesn’t have any pricing appropriate for small businesses.
The configuration is:
Host vm.example.com ProxyCommand bash -c '/usr/local/bin/cloudflared access ssh-gen --hostname %h; ssh -tt %r@cfpipe-vm.example.com >&2 <&1'
Host cfpipe-vm.example.com HostName vm.example.com ProxyCommand /usr/local/bin/cloudflared access ssh --hostname %h IdentityFile ~/.cloudflared/vm.example.com-cf_key CertificateFile ~/.cloudflared/vm.example.com-cf_key-cert.pub
Think about this a bit. Contemplate what happens if you use sftp, vscode remoting, or anything else nontrivial. Hint: “cloudflared access ssh-gen” is not actually any sort of proxy, and the ssh -tt command is a kludge that should, if openssh were more on the ball about inherited file descriptors, should not work at all.
The right way to to this is to use Match … exec. Or to ask openssh to add an option for a command to execute before reading IdentityFile. Or to ask for an IdentityFileCommand option. Or to use a custom ssh agent.