You certainly don't need a hardware token, you can store it in any FIPS 140 Level 2+ stores. This includes stuff like Azure KeyVault and AWS KMS.
Azure Trusted Signing is 100% the best choice, but if for whatever reason you cannot use it, you can still use your own cloud store and hook in the signing tools. I wrote an article on using AWS KMS earlier this year: https://moonbase.sh/articles/signing-windows-binaries-using-...
TLDR: Doing this yourself requires a ~400-500$/year EV cert and miniscule cloud costs
Azure Trusted Signing is 100% the best choice, but if for whatever reason you cannot use it, you can still use your own cloud store and hook in the signing tools. I wrote an article on using AWS KMS earlier this year: https://moonbase.sh/articles/signing-windows-binaries-using-...
TLDR: Doing this yourself requires a ~400-500$/year EV cert and miniscule cloud costs