Hi Sharon, and welcome to the site!
If its a specific list of people, it may be more cost effective to either add them as named drivers, or for them to take out their own short term/limited mileage policies. An open ended policy allowing you to rent to anyone will be fairly expensive in comparison.
There are some other options - there are companies out there who will manage the whole rental process for you, finding "customers", dealing with bookings and also managing the insurance.
Its quite a can of worms in some ways. You also have to think about how your motorhome will be treated and the possibility of additional repairs/servicing that you might incur as part of the process. Renting to friends is very different to renting to complete strangers.
Here are a few links which may help you to begin with, if only to get an idea of whats out there and the associated costs:
www.hirebuddies.com/rent-your-motor-home-camper-van.html
www.motorhomesuk.co.uk/hire-out-your-motorhome/
www.rentoutmymotorhome.com/
www.alanboswell.com/business-insurance/c...rive-motorhomes.aspx
Let me know if they are any help...
All the best,
Mark.