Router on a Stick using Cisco ASA 5510

I am setting up multiple VLANS on a 2960. I set them up, added the trunk and can ping the sub- interfaces on the ASA which are setup from each VLAN. How do I setup security and inter-vlan routing using the ASA as a (router on stick)to certain vlans have access to other vlans while others do not. I can explain better if those doesn’t make sense.

Thanks