There are two kinds of permission for Calendar in Mailbox. A user can have
- Folder permission to calendar
- Delegate permissions
Folder permission is used by another user to access the calendar and Delegate permission is given to a user to manage the calendar behalf of the giving user. Both kinds of permission can be given to user from Outlook or by Exchange PowerShell.
How to do it in Outlook?
Folder permission: In Outlook Go to Calendar section, right click on the calendar on the left pane, Choose properties/Permissions.

Delegate permission: In Outlook, click File / Account Settings / Delegate Access.

Detailed Help: https://support.office.com/en-us/article/Allow-someone-else-to-manage-your-mail-and-calendar-41C40C04-3BD1-4D22-963A-28EAFEC25926
How to do it in Exchange Admin Shell?
Open PowerShell and connect to Exchange (or Exchange Online).
Folder Permission:
Give John.Doe@company.com Reviewer access to Jane.Doe@company.com’s calendar.
Add-MailboxFolderPermission -Identity Jane.Doe@company.com:\Calendar -User john.doe@company.com -AccessRights Reviwer
Delegate Access:
Make John.Doe@company.com as Delegate with Editor access to Jane.Doe@company.com’s calendar.
Add-MailboxFolderPermission -Identity Jane.Doe@company.com:\Calendar -User john.doe@company.com -AccessRights Editor -SharingPermissionFlags Delegate
Detailed Help: https://docs.microsoft.com/en-us/powershell/module/exchange/mailboxes/add-mailboxfolderpermission?view=exchange-ps