I used to have exxonmobil fleet cards that do exactly what you want. Other brands offer it is well and there are universal cards too. Each vehicle gets a unique card number and each use requires entry of driver ID and mileage. We used their speed pass tags attached to each vehicle's key ring. Reports available to track cost per mile and lots more. Also can set limits and alerts on time of use, quantity or dollar amount, geographic limits and more. There is a rebate based on quantity purchases per month.

www.exxonmobilfleetcards.com

www.wexinc.com/fleet/small-business/compare-cards/

www.marathonfleetcards.com

www.bpbusinesssolutions.com