You can allow a user to use sudo either by adding them to a group which is allowed to sudo, or by specifying the individual user.
Use visudo to edit /etc/sudoers, it uses the system default editor, which is normally vi or vim if it's installed:
[root@machine ~]# visudo
Uncomment the line:
# %wheel ALL=(ALL) ALL
Then add your user to the wheel group:
[root@machine ~]# adduser adam wheel
Add a new line which specifies the user:
adam ALL=(ALL) ALL
Now the user adam will be able to use the sudo command.