With the rapid development of automation and intelligent systems, human-machine teaming (HMT) is becoming increasingly important in various fields. With a large body of research focusing on this topic for different application domains, there is a need to summarize general design principles for HMT. This review serves for this need. Through a systematic review, we identify the scope of the narrative review, and then through the narrative review methodology, we summarize various design guidelines from HCI, Human-Robot Interaction (HRI), and specific HMT scenarios. As a result, this paper presents general principles for HMT design, as well as exploring how to define the HMT process, how to design effective prompting and alerting mechanisms, and what collaborative approaches are available. These results provide a theoretical foundation and practical guidance for the development of future HMT systems.