surely there is some way to turn off two factor authentication, i accidentally turned it on.

From the article below. If it has been on longer than 2 weeks, you can't turn it off. 

Can I turn off two-factor authentication after I’ve turned it on?

If you already use two-factor authentication, you can no longer turn it off. Certain features in the latest versions of iOS and macOS require this extra level of security, which is designed to protect your information. If you recently updated your account, however, you can unenroll for a period of two weeks. Just open your enrollment confirmation email and click the link to return to your previous security settings. Keep in mind, this makes your account less secure and means that you can't use features that require a higher level of security.

Apple ID -Two-factor authentication

No, unless as Eric Root has mentioned, you enabled it within the last two weeks.

Did you read the 'Get a text or phone call' section in the article I posted a link to?

It is in the link below.

Verification code - how to get one and sign in with two-factor authentication

I need to replace my Iphone to an android, however my wife still uses her iphone and I keep my ipad. I still need to use icloud to access and enable icloud features, especially 'find my iphone' to find my ipad and my wife's iphone.

I can open icloud from any browser, even from an android or pc. But the two factor authentication would not allow me to do this, since the code will only be sent to an IOS device. Of course I cant carry Ipad anytime, so how can I use Find my iphone or access icloud features from a non IOS device to solve this ? I cannot turn off two factor authentication anymore

Have you added your current phone number to your Apple ID to make it a trusted number?

Apple ID - Manage

Verification code - how to get one and sign in with two-factor authentication

yes, my number is already added and registered for the two-factor authentication

no I must have missed that. was it prior this ?

thanks a lot,...will try the text code setting sent to my android

You are welcome. Good luck.