I have a course created like the one you are asking and I added the teachers using a SQL Query.
All my students have a numberical id 08XXX, 09XXX, 10XXX, etc.
My faculty have id's that are based on names, so I wrote a script that would grab all users whose user id did not have a 08%, 09% etc and added them to the course with and insert ignore into the moodle role assignment table with the correct course info. Another way could be to get a list of anyone in the role assignment table that is a teacher, and insert ignore into the course you want with the role they need to have.
I don't believe there is an automatic way to have them enrolled, but you could have them use and enrollment key to enrol themselves.