We could start by not making a resolution to overturn an emergency require signature so the president can't veto. There's an obvious imbalance of powers favoring the executive in this situation. Sunset provision doesn't seem like a bad idea either.
I'd be wary of a law only allowing certain specific things in an emergency though, since we never know what might come up.
It used to be easier for Congress to undo an emergency declaration, but SCOTUS ruled some years ago that the presentment clause required treating this way.
My suggestion is some variation of sunsetting. Say one week (or one week after Congress is called back into session if it is out of session - HAH!) and then it requires explicit Congressional approval to continue past then. That certainly is enough time for real emergencies, but I'm not certain it solves the problem with the presentment clause.