Collaboration
Although most esolangs are created by a single author, sometimes, multiple authors can work on a single esolang. There are many ways people can collaborate.
User edited pages
This is the most common type of collaboration. Someone makes a page on the Esolang Wiki, and then declares that 'anyone can edit it', usually with some rules that an editor may follow. Some examples include BFInfinity, UserEdited, Usernames, ™, and User talk:User:Main page/w/wiki/User:NotPrySigneToFry/what.
E-mails
Some people that already know each other might use e-mail to communicate to each other regarding the matter of esolang creation. One example of this is robots.txt.
Version control
This is mostly applicable to esolang implementations, they can be developed collaboratively using version control systems like Git or Subversion, usually hosted on forges.