I tried to code sign an iOS application, These are the steps that i followed
security create-keychain -p password ${KEYCHAIN}
security set-keychain-s
This happens in a headless build because the prompt for key access cannot be shown or responded to. The solution is to prevent that prompt from showing by granting access to the key in advance.
Open Keychain Access, find the key for your signing certificate (login-> Certificates, then expand the certificate to reveal its key). Right-click on the key and select: Get Info -> Access Control, and select "Allow all applications to access this item".