If you wish to give certain users limited access to the AdminCP, then unless they are all in the same usergroup, and are the only ones in that usergroup, create a secondary usergroup for them, and then for the usergroup you are going to use for this purpose, in the "Usergroup Manager" under "Administrator Permissions" set "Can Access Control Panel (is Administrator)" to "Yes."
Then, under "Usergroups" go to "Administrator Permissions" and you can edit the permissions for each user in the group.