You will have to create a new role, assign users to the role and give edit permissions to pages on your site for this role. Also verify the settings of the control panel under the Site Settings (usability section) to see how the control panel will be displayed. You just need to avoid giving them edit permissions on pages where you don't want them to be able to delete (ie. the admin tab and all of it's children. I would also not give them permissions to the home page in most cases. You can give them edit permissions on the home page modules if necessary).