Users created with useradd have a UID of 1000–60000, see
$ grep "^UID_M*" /etc/login.defs
UID_MIN 1000
UID_MAX 60000
With this information we can filter /etc/passwd for these users:
$ awk -F: '$3 >= 1000' /etc/passwd
nobody:x:65534:65534:nobody:/nonexistent:/usr/sbin/nologin
dessert:x:1000:1000:dessert,,,:/home/dessert:/bin/bash
test:x:1001:1001:test,,,:/home/test:/bin/bash
-F: sets : as the field delimiter and $3 >= 1000 tells awk to just print lines where the third column contains a value equal to or greater than 1000. Now we only want the username and nobody isn't relevant for us, so let's trim the output even more:
$ awk -F: '$3 >= 1000 && $1 != "nobody" {print $1}' /etc/passwd
dessert
test
Now we also (&&) test for the first column to not be (!=) the string nobody and only print the first column (print $1).