Authenticate on website with wallet

Is there a Cardano wallet like Metamask so I can authenticate users and submit transactions on website?
Or are there other ways to do it?

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Exactly the piece of infrastructure I am looking for as well.
You might be able to build something similar using cardano-wallet from IOHK which provides a nice WebAPI.
But you might need to build everything your own.
I hope with the Cardano eco system evolving we will see a grown up eco system for Cardano developers as well.