If your array has only 2 levels, you can just do something close to what you did:
{% for module in modules %}
{% if module is iterable %}
{% for submodule in module %}
<p>{{ submodule }}</p>
{% endfor %}
{% else %}
<p>{{ module }}</p>
{% endif %}
{% endfor %}
Will give you (with the context you given):
<p>users</p>
<p>submodule1</p>
<p>submodule2</p>
See fiddle
But if your array has an arbitrary number of levels, you should do some recursive using macros:
{% macro show_array(array) %}
{% from _self import show_array %}
{% for module in array %}
{% if module is iterable %}
{{ show_array(module) }}
{% else %}
<p>{{ module }}</p>
{% endif %}
{% endfor %}
{% endmacro %}
{% from _self import show_array %}
{{ show_array(modules) }}
With the following context (in YAML format):
modules:
0: users
submodule:
0: submodule1
1: submodule2
subsubmodule:
0: subsubmodule1
1: subsubmodule2
This will give you:
<p>users</p>
<p>submodule1</p>
<p>submodule2</p>
<p>subsubmodule1</p>
<p>subsubmodule2</p>
See fiddle