If you want to be a professor, you’ll need to pursue that Ph.D. However, in the meantime if you already have a master’s degree, look into lecturer and adjunct faculty positions. There may be classes within your discipline that a person with professional experience, if not a terminal degree, would be perfectly qualified to teach; for example, a civil engineering capstone design course.
If you don’t have a master’s degree, there are degree programs available online. The UF EDGE program is an example — you can earn the same degree you’d earn if you were in Gainesville, but you don’t have to quit your day job or disrupt your family with a move.