RSA encryption with private key and decryption with a public key
Mathematically it work just fine. "Encrypt" with the private key, "decrypt" with the public key. Typically, however, we say sign with the private key and verify with the public key.

As stated in the comments, it isn't just a straight forward signing of the message $m$. Typically a hash function and padding is involved. Also, often one has a separate key pair for signing.

As you can see, there are a number of caveats, but in general you are correct, it is used for sender authentication.