Comment # 3 on bug 1006601 from Pieter Hollants

This can be worked around by adding a suitable polkit rules file.

I created /etc/polkit-1/rules.d/81-blueman-manage.rules with the following
contents:

  polkit.addRule(function(action, subject) {
      if (action.id == "org.blueman.rfkill.setstate" &&
          subject.active == true && subject.local == true &&
          subject.isInGroup("users")) {
              return polkit.Result.YES;
      }
  });

This solves the problem for me.