Using the Security component might give you what you want;
http://book.cakephp.org/2.0/en/core-libraries/components/security-component.html
[update] Although the security component checks if a form posted was a valid form, it does not check if the current user has permissions to access a controller/action.
For this you'll need to implement an authorisation system, in combination with access control. This can be a simple 'access' controll for certain actions ("is a user logged in?"), or a more granular aproach using access control lists (ACL).
The cakephp manual has some examples for both. I'll post some links:
Authentication http://book.cakephp.org/2.0/en/core-libraries/components/authentication.html
Access Control Lists http://book.cakephp.org/2.0/en/core-libraries/components/access-control-lists.html
And a tutorial on both http://book.cakephp.org/2.0/en/tutorials-and-examples/blog-auth-example/auth.html http://book.cakephp.org/2.0/en/tutorials-and-examples/simple-acl-controlled-application/simple-acl-controlled-application.html