Enable sudoing for the logged-in user for one specific prefpane only?
You have to script a task to run from the command line for sudo to grant password-less admin rights. It only works on shell scripts and not the GUI password prompt.
The first way to help you is to clarify you have two problems.

Make a terminal command into an app that can be clicked so you don’t have to train people in terminal app. (A very valid and worthwhile exercise to solve a general class of problems)
Make a command line tool that does what you need - which solves your specific vmware control issue or blockage.

Once you have solved both of these sub tasks, you may or may not need a third question on how to combine two working parts together.