subinacl.exe /service "YourService" /grant=YOURDOMAIN\YourGroup=QSTOP
subinacl.exe /help /full
...
Service:
F : Full Control
R : Generic Read
W : Generic Write
X : Generic eXecute
L : Read controL
Q : Query Service Configuration
S : Query Service Status
E : Enumerate Dependent Services
C : Service Change Configuration
T : Start Service
O : Stop Service
P : Pause/Continue Service
I : Interrogate Service
U : Service User-Defined Control Commands
...
https://docs.microsoft.com/en-us/sysinternals/downloads/psexec