doas is a minimal replacement for the venerable sudo. It was initially written by Ted Unangst of the OpenBSD project to provide 95% of the features of sudo with a fraction of the codebase. 0
Begin by first verifying that you have opendoas installed:
$ kiss b opendoas
$ kiss i opendoas
Using your preferred text editor, modify the /etc/doas.conf file. Within the doas.conf, there are plenty of examples of rules to choose from and modify.
Below are a few examples of basic rules that could be set:
# Allow a specific regular user, USER, to escalate to root permissions.
permit USER
# Allow a specific group (i.e. "wheel") to escalate to root permissions.
permit wheel
# You can also allow privilege escalation without a password.
permit nopass [GROUP OR USER]
Refer to OpenBSD doas.conf manual page 1 for more information.