How do you give permissions to certain roles to get certain menu items to display in the admin_menu toolbar?
Select People or users in admin bar, the user section on the right side there is permissions tab click it. then scroll down to store section, there u can set the permission for each type of user in your site.

Just to be clear user account ur are using as restricted go to his account page and see what type of user he is? ex admin or user or author.

then tick yes the setting u want for your restricted user in the permission tab.