I would definitely double check if your developer mean Auth0 or Authy (https://www.twilio.com/authy) . Authy is Twilio's use case API for 2FA to Add 2FA to web and mobile apps with fewer than 10 lines of code (https://www.twilio.com/docs/tutorials/walkthrough/two-factor-authentication/node/express) .
You could build it on your own by just using Twilio's SMS API , but that would mean you maintaining the token generation , maintainence and disposal at your app . Using Authy takes all that trouble from you and you can achieve the 2FA through a simple and powerful REST API .
Update based on OP's comment
So seems he wants to handle the 2FA himself and integrate it with firebase.
I don't still see why is Auth0 mandatory, You can connect to Firebase and Twilio (using either of the authentication method I mentioned above)in the same service .
Example (assuming nodejs backend server):
app.post('/send2FASMS', function (req, res)
{
var resp = new twilio.TwimlResponse();
var fromNum = req.body.From;
var Firebase = require('firebase'),
/*your firebase stuff here using FireBase - example : new Firebase('{FIREBASEURL}/Users/');*/
resp.message(customeMessageThatYoumightHaveConstructedUsingYourFireBaseDB + 'Your 2FA code is 438469.');
res.writeHead(200,
{
'Content-Type':'text/xml'
}
);
res.end(resp.toString());
}
);
Obviously , firebase should be installed before this
npm install firebase
Having said this , I would still advise having a look at Authy , which can be integrated similarly to above ( Authy APIs instead of SMS ) and give you the better 2FA experience as compared to developing the 2FA logic yourself.