The basic POSIX permissions cannot provide what you need, so you'll need to add an Access Control List to allow that type of file server behavior.
I would create a subfolder to Shared and apply the ACL to that folder, but you could do it on Shared.
chmod +a group:<groupname> allow list,add_file,search,add_subdirectory,delete_child,readattr,writeattr,readextattr,writeextattr,readsecurity,file_inherit,directory_inherit /Users/Shared/<foldername>
You can just use staff as the <groupname> as your two users on that Mac are both part of staff. Or, you can create a new Group in Users & Groups System Preferences. Add each user to that group and use that instead of staff.
Replace <foldername> with the desired folder name, or delete it to just use Shared.