In your case you should be able to use access or relay-domains, it should work either way. relay-domains is probably the most straightforward approach. "access" gives you way more possibilties (custom error messages, relaying based on single addresses etc), but you shouldn't need this. If using access you will usually have to create your hashmap after modifying the file, thus involving more steps.
I recommend to read the exhaustive on sendmail about those files, this will give you the most accurate answers.