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Whitelisting on Space Engineers is accomplished through Steam groups.
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You can gain access and login using both the Steam app and from your browser.
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Make sure you’re a member of the group, only invite those who you’d like to be group whilslisted into the group. You’ll be able to see your Group ID when you invite a friend - It will appear as a long number at the end of your URL bar
NOTE: When doing this on the Steam app, enable the option to display the Steam URL bar.
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Stop your server and enter your configuration files and edit SpaceEngineers-Dedicated.cfg.
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Find ‘<GroupID>0</GroupID>’ and replace ‘0’ with your Group ID.
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Save these changes, and start your server. After following these steps, only members of the Steam group can join your server.