using a CA to sign your ssh keys

# generate the CA
client$ ssh-keygen -N '' -C user-ca -f ~/.ssh/ca
Generating public/private rsa key pair.
Your identification has been saved in /home/work/.ssh/ca
Your public key has been saved in /home/work/.ssh/ca.pub
The key fingerprint is:
SHA256:+b1N4C0pVYhMZ2m4XWqz8op50rEH9CAfFT0k9USRCOc user-ca
The key's randomart image is:
+---[RSA 3072]----+
|          .o*B+o=|
|         o.+*+++ |
|          o=.E...|
|        ..= =.   |
|        S+ =oo   |
|         .=+o+   |
|         .o*= o  |
|        .o+.o=   |
|        oo.o. .  |
+----[SHA256]-----+

# generate the key to sign
client$ ssh-keygen -N "" -C ca-signed -f ~/.ssh/ca-signed
Generating public/private rsa key pair.
Your identification has been saved in /home/work/.ssh/ca-signed
Your public key has been saved in /home/work/.ssh/ca-signed.pub
The key fingerprint is:
SHA256:U82UiPgJojBhu2+DafHukmTFCnamtKRrk6qtTHkazT8 ca-signed
The key's randomart image is:
+---[RSA 3072]----+
|.o     . . ...   |
|+ . . o . .+.    |
| +.. . o .. o    |
|.+o=    o.       |
|*oB     S        |
|.*X      .       |
|oOoO             |
|=B* oE           |
|B+=o ..          |
+----[SHA256]-----+

# sign the key with the CA, expires in 1 hour. ssh-keygen has a bunch of other possible restrictions it can put on the new key
client$ ssh-keygen -V +1h -s ~/.ssh/ca -I new-user-key-id ~/.ssh/ca-signed.pub
Signed user key /home/work/.ssh/ca-signed-cert.pub: id "new-user-key-id" serial 0 valid from 2021-11-03T09:10:00 to 2021-11-03T10:11:17

# inspect the signed key, which is in the cert.pub file
client$ ssh-keygen -L -f ~/.ssh/ca-signed-cert.pub
~/.ssh/ca-signed-cert.pub:
        Type: ssh-rsa-cert-v01@openssh.com user certificate
        Public key: RSA-CERT SHA256:U82UiPgJojBhu2+DafHukmTFCnamtKRrk6qtTHkazT8
        Signing CA: RSA SHA256:+b1N4C0pVYhMZ2m4XWqz8op50rEH9CAfFT0k9USRCOc (using rsa-sha2-512)
        Key ID: "new-user-key-id"
        Serial: 0
        Valid: from 2021-11-03T09:10:00 to 2021-11-03T10:11:17
        Principals: (none)
        Critical Options: (none)
        Extensions:
                permit-X11-forwarding
                permit-agent-forwarding
                permit-port-forwarding
                permit-pty
                permit-user-rc

# have the server accept any key signed by the cert authority
server$ echo cert-authority `cat ~/.ssh/ca.pub` >>~/.ssh/authorized_keys

# login with the key
client$ ssh -v -i .ssh/ca-signed server.example.org
...
debug1: Will attempt key: .ssh/ca-signed RSA SHA256:U82UiPgJojBhu2+DafHukmTFCnamtKRrk6qtTHkazT8 explicit
debug1: Will attempt key: .ssh/ca-signed RSA-CERT SHA256:U82UiPgJojBhu2+DafHukmTFCnamtKRrk6qtTHkazT8 explicit
...
debug1: Offering public key: .ssh/ca-signed RSA SHA256:U82UiPgJojBhu2+DafHukmTFCnamtKRrk6qtTHkazT8 explicit
debug1: Authentications that can continue: publickey,gssapi-keyex,gssapi-with-mic,password
debug1: Offering public key: .ssh/ca-signed RSA-CERT SHA256:U82UiPgJojBhu2+DafHukmTFCnamtKRrk6qtTHkazT8 explicit
debug1: Server accepts key: .ssh/ca-signed RSA-CERT SHA256:U82UiPgJojBhu2+DafHukmTFCnamtKRrk6qtTHkazT8 explicit
debug1: Authentication succeeded (publickey).
...
server$

# log message
sshd[31417]: Accepted publickey for [user] RSA-CERT ID new-user-key-id (serial 0) CA RSA SHA256:+b1N4C0pVYhMZ2m4XWqz8op50rEH9CAfFT0k9USRCOc