Take a look at man sudoers to see if this works for you.
NOPASSWD and PASSWD
By default, sudo requires that a user authenticate him or herself before running a command. This behavior can be modified via the NOPASSWD tag. Like a Runas_Spec, the NOPASSWD tag sets a default for the commands that follow it in the Cmnd_Spec_List. Conversely, the PASSWD tag can be used to reverse things. For example:
ray rushmore = NOPASSWD: /bin/kill, /bin/ls, /usr/bin/lprm
would allow the user ray to run /bin/kill, /bin/ls, and /usr/bin/lprm as root on the machine rushmore as root without authenticating himself. If we only want ray to be able to run /bin/kill without a password the entry would be:
ray rushmore = NOPASSWD: /bin/kill, PASSWD: /bin/ls, /usr/bin/lprm
Note, however, that the PASSWD tag has no effect on users who are in the group specified by the exempt_group option.
By default, if the NOPASSWD tag is applied to any of the entries for a user on the current host, he or she will be able to run sudo -l without a password. Additionally, a user may only run sudo -v without a password if the NOPASSWD tag is present for all a user's entries that pertain to the current host. This behavior may be overridden via the verifypw and listpw options.