We have an AWS EKS Kubernetes cluster with two factor authentication for all the kubectl commands.
All this is meant to bypass two-factor authentication for the continuous deployment via Jenkins, by deploying jenkins agent into the cluster and using it for deployments. Thanks.
You can use a supported Kubernetes client library or Kubectl or directly use curl to call rest api exposed by Kubernetes API Server from within a pod.
You can use helm as well as long as you install it in the pod.