The oathtool command line app supports TOTP. It is pretty straightforward to script something if you need it. The package has the same name (oathtool).
$ gpg -d encrypted-secret.txt | goathgen
https://github.com/w8rbt/goathgenThe keys come from a dedicated password manager that only stores TOTP secrets and the password manager wipes the clipboard.
All this happens on a physically separate machine.