Porkbun supports sub-accounts[1] to manage domains and is generally recommended as a good registrar.
Cloudflare supports roles[2] but in my experience it's a bit annoying to setup and each user needs a full CF account. It's otherwise a well regarded registrar around here as well.
Namecheap also supports delegation[3]. I personally wouldn't recommended to use namecheap because of some questionable practices, but I know that many on HN disagree with this sentiment so it's worth considering!