You must grant all/specific privilege to SQLUser1 with grant option
as sa
(sys admin or other higher privileged user). Then SQLUser1 will become eligible to grant privilege to SQLUser2 as outlined below
GRANT ALL TO SQLUser1 WITH GRANT OPTION
You need not to assign ALL
privilege to SQLUser1. Even SQLUser1 can have only INSERT
permission but WITH GRANT OPTION
make him eligible to grant the same permission to other user.
Then as SQLUser1 grant specific privilege to SQLUser2
GRANT INSERT TO SQLUser2
You can do the above mentioned steps using GUI (SSMS) as well.
For more information on GRANT
see HERE