https://tozny.com/ sells a service that enables this for any app, not just Google.
I have a Yubikey and I find it too obnoxious for day-to-day use. I'd rather use an authenticator app (such as Google's or LastPass').
For TOTP on non-Google sites, I find LastPass better than Google's Authenticator. First, LastPass locks the app with a PIN. Second, it can work with the browser extension to fill out those 6-digit codes for you.
I have a Yubikey and I find it too obnoxious for day-to-day use. I'd rather use an authenticator app (such as Google's or LastPass').
For TOTP on non-Google sites, I find LastPass better than Google's Authenticator. First, LastPass locks the app with a PIN. Second, it can work with the browser extension to fill out those 6-digit codes for you.