Creating an x509 v3 user certificate by signing CSR
The answer of gtrig works if you have -req as well. It didn't work without that for me.
So the command is:
openssl x509 -req -in myCSR.csr -extfile v3.ext -CA myCA.crt -CAkey myCA.key -CAcreateserial -out userCertificate.crt -days 365
(had to give as a new answer as I don't have enough rep. to comment).
You need to specify an extensions file.
For example:
openssl x509 -days 365 -in myCSR.csr -extfile v3.ext -CA myCA.crt -CAkey myCA.key -CAcreateserial -out userCertificate.crt
The extensions file (v3.ext) can look like this:
authorityKeyIdentifier=keyid,issuer
basicConstraints=CA:FALSE
keyUsage = digitalSignature, nonRepudiation, keyEncipherment, dataEncipherment