At a previous company I worked at, I used qrencode to encode an RSA Token link on my work MacBook.

Make sure you install brew install qrencode.

Then run:

qrencode -t ansiutf8 http://127.0.0.1/securid/ctf?ctfData=1399503853395794776958778006207323342964422284215023231274725406514288673546241243

That will output a QR code on the terminal screen and you can scan it in the RSA app.