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visudo command

I'm setting up a new FreeBSD server. I do not want to use a default root user who has full system access. How can I setup and grant sudo privileges to users on a FreeBSD VPS or server?
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I like the way Ubuntu Linux works - all people in admin groups should able to run all commands after running it via sudo "command-name". How do I setup sudo under CentOS or Red Hat Enterprise Linux to allow all members of the 'admin' group to run all commands?
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I use sudo to provide permissions and command execution rights to other users under UNIX and Linux operating systems. However, I noticed something strange about sudo. When executing sudo, it will prompt for the user's password the first time, but sudo no longer requires a password anymore when re-executing it. Why? Is this is a security risk?
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I'm trying to run the following command:

ssh user@box.example.com sudo command1 /path/to/file

But, an error is displayed follows:

sudo: sorry, you must have a tty to run sudo

OR

sudo: no tty present and no askpass program specified

How do I fix this problem on Linux or Unix based systems?
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