how to set up a private webserver on Digital Ocean: wireguard?

I have experience developing web applications and setting up web and database servers, but minimal experience with VPNs and not a really advanced understanding of networking. Now I would like to set up web and database servers that are not public-facing at all, but only accessible to a very select few devices/users. I’ve done some searching and reading, and seen competing ideas and products – OpenVPN, Algo, Wireguard. I like Wireguard, and wonder if a sound approach would be to set up a web server that only accepts connections from the handful of IP addresses that are part of my little Wireguard network. I hope my meaning is clear and terminology close enough to correct.

Does this idea make sense? Any other suggestions?