This tutorial is for Essentials users.

Essentials provides the majority of the commands on your server. You can find a full list of commands here.

http://wiki.ess3.net/wiki/Command_Reference

Each command has a permission ID.

McMyAdmin users

To give users access to /tp,

1. open McMyAdmin and open the Groups and Users tab.
   
2. Click on the group you want to add the command tp.
3. Add essentials.tp to the permissions list (right side).

Now everyone in that group and above can use /tp.

Non McMyAdmin users:

To give users access to /tp,

1. Log in game
2. type /mangaddp Default essentials.tp (replace default with the group you want to add to)

Now users in that group or above can use /tp.

note: If you get "you must select a world first" when using /mangaddp. type /manselect world

Use this method for all the commands you want to add to a group.