Infura is a hosted Ethereum node cluster that lets your users run your application without requiring them to set up their own Ethereum node or wallet. Infura behaves just like a local install of Ethereum running RPC.
For security reasons, Infura does not manage your private keys, which means infura cannot sign transactions on your behalf.
However, Truffle can sign transactions through the use of its HDWalletProvider. This provider can handle the transaction signing as well as the connection to the Ethereum network.
Install HDWalletProvider: