AWS docs provide an example of how to do this under "Allow Users to Manage Only Their Own Virtual MFA Devices":
http://docs.aws.amazon.com/IAM/latest/UserGuide/id_credentials_delegate-permissions_examples.html#creds-policies-mfa-console
{
"Version": "2012-10-17",
"Statement": [
{
"Sid": "AllowUsersToCreateEnableResyncTheirOwnVirtualMFADevice",
"Effect": "Allow",
"Action": [
"iam:CreateVirtualMFADevice",
"iam:EnableMFADevice",
"iam:ResyncMFADevice"
],
"Resource": [
"arn:aws:iam::account-id-without-hyphens:mfa/${aws:username}",
"arn:aws:iam::account-id-without-hyphens:user/${aws:username}"
]
},
{
"Sid": "AllowUsersToDeactivateDeleteTheirOwnVirtualMFADevice",
"Effect": "Allow",
"Action": [
"iam:DeactivateMFADevice",
"iam:DeleteVirtualMFADevice"
],
"Resource": [
"arn:aws:iam::account-id-without-hyphens:mfa/${aws:username}",
"arn:aws:iam::account-id-without-hyphens:user/${aws:username}"
],
"Condition": {
"Bool": {
"aws:MultiFactorAuthPresent": true
}
}
},
{
"Sid": "AllowUsersToListMFADevicesandUsersForConsole",
"Effect": "Allow",
"Action": [
"iam:ListMFADevices",
"iam:ListVirtualMFADevices",
"iam:ListUsers"
],
"Resource": "*"
}
]
}
To find your AWS account ID number to plugin in in the AWS Management Console, click on Support in the navigation bar in the upper-right, and then click Support Center. Your currently signed in account ID appears below the Support menu.
See also https://blogs.aws.amazon.com/security/post/Tx2SJJYE082KBUK/How-to-Delegate-Management-of-Multi-Factor-Authentication-to-AWS-IAM-Users