Switching from the frontend?

Is there any way to bring this functionality to the frontend?

I have an internal system and all the admins have Adminstrator permissions, but I block off the wp-admin acces (mostly visually, and most don’t know there’s even a backend wp-admin side), but I hav eoutput a list of users on the front end…just wondering if there’s some hook or filter or shortcode or something I can use to include the switch to user link on the front end so they can log in as users to troubleshoot from the frontend?