Allow Windows Domain users Local Admin rights on subset of Domain Computers

You're on the right track. Now, you would need to create an Organizational Unit in Active Directory to place the servers in question in. Then, you create and link a group policy to that OU that adds the security group that you made into the local administrators group on the server.

You would create a security group in AD, lets call it "developers". You would then add this group as a member of the local admins group on each of these machines. You could do this manually on each of these machines if there aren't many, or look at using group policy to do so by putting these machines in a separate OU, and applying a policy to do this.

You would then add the users you want to have these rights to this group.