A programmable hardware token is essentially a substitution substitute for the Microsoft Authenticator app, and the process to set up a programmable hardware token is similar to setting up the Microsoft Authenticator app.
You can use your Android or iPhone to program the hardware token if your phone is NFC-enabled. You can also use your Windows PC or laptop to program the hardware tokens. If you are going to use Windows PC or laptop, then you will need an an NFC smart card reader.
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Click here for detailed instructions on how to set up programmable hardware tokens with Azure AD
Use OATH hardware tokens in Office 365 MFA login
The user experience with using an OATH hardware token in Office 365 and Azure AD login is basically the same as using the Microsoft Authenticator app
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