Apply a white acrylic coating to the driveway. The color white reflects light from the sun, preventing the concrete from absorbing the rays and becoming too hot. The acrylic coating also has the added benefit of protecting the driveway from the rain.
Plant grass on both sides of the driveway to take advantage of the principle of heat transfer, which holds that heat flows from an object of higher temperature to one of lower temperature. The grass will be at a lower temperature than the concrete due to its reduced surface area and high water content.
Shade the driveway from direct sunlight. Arrange shrubs and trees along the sides of the driveway. Consider installing a wood or wire mesh cover above the driveway to protect the concrete from mid-day sunlight.