The answer @itai-ganot provides is the "best approach".
A "simpler" alternative is to leverage Jenkins "Archive Artifacts" option ; example here and provide your QA people Read access to Jenkins instance. Intro to Access Control
Be aware you should implement strategy to manage the builds and artifacts or you'll quickly run out ...
It seems to me that you're looking for an artifact store such as Nexus or Artifactory.
Both solutions have Jenkins plugins which will simplify the process of uploading your artifacts to them.
You can find an example as to how to upload artifacts from your Jenkins pipeline to Nexus in this link and an example for Artifactory in this link.
Both solutions are ...