DHHS (Department of Health & Human Services) is the entity that classify drugs into Schedules based on medical use or potential of abuse.
DOJ’s (Department of Justice) division DEA enforces the laws on Scheduled drugs.
All we need is Cannabis to move from Schedule 1 (Heroin, no medical use) to Schedule 2-5 (fentanyl, Xanax, tramadol, has medical use).
To be honest it just needs to be regulated like alcohol and be done with it.