How can a different wallet pay for the gas fees in someone's else transaction?

I am trying to figure out a way to make a different wallet to pay the gas fees in a ERC20 transaction.

Let's say I have user Joe with USDC tokens in his wallet but not ETH. If I try to transfer 10 USDC tokens to someone else, the transaction will fail because Joe doesn't have ETH to pay for the gas fees.

Is there a way to make this transfer but use my wallet to pay for the gas fees? So Joe would be able to transfer the 10 USDC tokens to someone else but I would pay for the gas fees. Any idea how to do this? I do have both private keys.

Just some context, I am working in a DApp where users will be able to transfer or make payments using USDC tokens. However we don't want users transferring ETH to their wallets to be able to transfer the USDC tokens. So we thought if it would be possible for us to pay the gas fees when the user transfer USDC tokens. We are using Nethereum but I couldn't find this info in the documentation.

Any suggestion is welcome! Thanks!