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We have been considering ways of sharing access among users but have not come up with a secure way of doing so quite yet. Generally, we view the creation of the map data as being our primary goal. While we make sharing as easy as we can, it is the responsibility of the map's owner to transmit the data to 3rd parties in other ways. We have a lot of different types of users with a million different use cases and it would be impossible to support them all.
It is currently possible to share all of the annotations and measurement tools on all publicly shared maps. 3rd party users cannot add new annotations but can view the ones that have been made by the map's owner. The public link is only as public as you make it. We do not share it unless you elect to add your map to our user gallery. You can also share the links to download the full resolution outputs by copy and pasting the text from the page or by clicking to get the links and sending those.
When sending the URL to anyone you wish to be able to view the map, be sure to send the public version of it since, as you have found, you need to be logged in as the map's owner to see the private version. Again, the public version of the URL is only as public as you make it.
Most of our users that create data for other people download all of the output files and deliver those via their own website or by hard copy. All of these files formats with the exception of the the 3d files are suitable to be printed. The maps can then be embedded in pages that the map's owner can control access to.
Maps Made Easy is always changing and we are looking for ways to better enable collaboration between users so your requests will be taken under advisement.