I don't know the fully general answer, but have found a solution for channels acting on a single qubit.
Mixed-unitary channels
Quantum channels that admit a Kraus representation consisting solely of multiples of unitary operators are known as mixed-unitary channels, i.e. $\mathcal{E}$ is a mixed-unitary channel if there exists unitary operators $U_i$ and positive real numbers $c_i$ with $i=1,\dots,m$ such that
$$
\mathcal{E}(\rho) = \sum_{i=1}^mc_iU_i\rho U_i^\dagger
$$
for all density matrices $\rho$. Note that $\sum_{i=1}^m c_i=1$ when $\mathcal{E}$ is trace-preserving.
Unital channels
It is easy to see that if $\mathcal{E}$ is a mixed-unitary channel then it is unital, i.e. it maps identity to identity $\mathcal{E}(I) = I$. It turns out that if $\mathcal{E}$ acts on density matrices of a single qubit, i.e. $\mathcal{E}:\mathcal{L}(\mathbb{C^2})\to \mathcal{L}(\mathbb{C^2})$ then this necessary condition is also sufficient.
In single-qubit case, $\mathcal{E}$ is mixed-unitary if and only if it is unital
Claim. Let $\mathcal{E}$ be a single-qubit quantum channel. If $\mathcal{E}$ is unital then it is mixed-unitary.
Proof. Recall that any single-qubit density matrix $\rho$ can be written as
$$
\rho = \frac{I + \vec{r}_\rho\cdot\vec{\sigma}}{2}
$$
where $\vec{\sigma}=(\sigma_x, \sigma_y,\sigma_z)$ is the vector of Pauli matrices and $\vec{r}_\rho\in\mathbb{R}^3$ with $\|\vec{r}_\rho\| \le 1$ is the Bloch vector corresponding to $\rho$. Moreover, any single-qubit CPTP map $\mathcal{E}$ is equivalent to an affine map acting on Bloch vectors
$$
\vec{r}_\rho \xrightarrow{\mathcal{E}} \vec{r}_{\mathcal{E}(\rho)}=M\vec{r}_\rho + \vec{c}\tag1
$$
where $M$ is a $3\times 3$ real matrix and $\vec{c}$ a constant vector, c.f. equation $(8.89)$ on page 375 in Nielsen & Chuang. The maximally mixed state $I/2$ corresponds to the zero Bloch vector, so if $\mathcal{E}$ is unital then $\vec{c}=0$ and $(1)$ becomes
$$
\vec{r}_\rho \xrightarrow{\mathcal{E}} \vec{r}_{\mathcal{E}(\rho)}=M\vec{r}_\rho.\tag{1'}
$$
Next, we show that any Bloch sphere transformation described by $(1')$ corresponds to a mixed-unitary quantum channel. To see this, write $M$ as
$$
M = OS\tag2
$$
for a real orthogonal matrix $O$ with unit determinant and a real symmetric matrix $S$, c.f. equation $(8.93)$ on page 375 in Nielsen & Chuang. Geometrically, $(2)$ describes a deformation of the Bloch sphere along the principal axes determined by the eigenvectors of $S$ followed by the rotation described by $O$.
Now, Bloch sphere rotations, such as $O$, correspond to unitary channels. Bloch sphere deformations along the $x$, $y$ and $z$ axes can be performed using bit-flip and phase-flip channels. Finally, Bloch sphere deformations along arbitrary axes can be implemented using deformations along the $x$, $y$ and $z$ axes and rotations.
In summary, any unital single-qubit quantum channel $\mathcal{E}$ corresponds to a Bloch sphere transformation which does not include translation, i.e. one given by $(1')$, and any such transformation can be effected by a composition of bit-flip, phase-flip and unitary channels. Any such composition is a mixed-unitary channel. $\square$