There are two options.
First, if you have a limited set of devices that you need to install to that are known ahead of time, you can use the standard Ad Hoc distribution profile. This allows you to build on your local Mac to up to 100 devices that have to be defined in the profile ahead of time. This does not require an Enterprise account - so any Apple developer account can do this.
Second, if you need to distribute your test apps outside of your team, and the devices will change, Apple has an Enterprise Program (your company must have a DUNS number, I believe), that will allow you to create enterprise distributions that can be deployed on any device. Those builds still have a limited expiration on the provisioning profile and certificate, so they must be re-built / reinstalled occasionally. In general, this is the method used for broad distribution / beta tests.
For a single team to use a single provisioning profile, I would choose option 1, create the provisioning profile on Apples developer site with all of your devices, and then add all your developers to the team in the dev portal. Xcode 5/6 will take care of the rest for you if you go into preferences, and add their accounts to the "Accounts" tab.
In older versions of Xcode (4.x and before), you could have one developer create the provisioning profile, and certificates, then export out a .developerprofile from Organizer that would package up the certificate and .mobileprovision files needed to build to your team's devices.