Adding Admin Panel Menu

here is the code to add admin menus

<?php
add_action('admin_menu', 'my_plugin_menu');
function my_plugin_menu() {
  add_options_page('My Plugin Options', 'My Plugin', 'manage_options', 'my-unique-identifier', 'my_plugin_options');
}

function my_plugin_options() {
  if (!current_user_can('manage_options'))  {
    wp_die( __('You do not have sufficient permissions to access this page.') );
  }

  echo '<div class="wrap">';
  echo '<p>Here is where the form would go if I actually had options.</p>';
  echo '</div>';

}
?>

is the documentation page http://codex.wordpress.org/Adding_Administration_Menus

another option that you have is installing a roles plugin add new roles and change the permission base on what you want them to do.

is the one that I like http://www.im-web-gefunden.de/wordpress-plugins/role-manager/

you can add it to your theme’s function.php file or you can create your on plugin here is the documentation page http://codex.wordpress.org/Adding_Administration_Menus