Can I prevent fabric from prompting me for a sudo password?

Try passing shell=False to sudo. That way /bin/bash won’t be added to the sudo command. sudo('some_command', shell=False)

From line 503 of fabric/operations.py:

if (not env.use_shell) or (not shell):
    real_command = "%s %s" % (sudo_prefix, _shell_escape(command))

the else block looks like this:

                                             # V-- here's where /bin/bash is added
real_command = '%s %s "%s"' % (sudo_prefix, env.shell,
    _shell_escape(cwd + command))