Joint communication and localization is an attractive technique to simultaneously provide data transmission and localization services, and efficient resource allocation could bring a high data rate and high localization accuracy in limited resources, which is significant for multi-user conditions. In this paper, we concentrate on the joint multiple resource allocation to achieve a trade-off between the performance of the communication and localization process in the millimeter multi-user Multiple Input Multiple Output(MU-MIMO) system. We first develop a robust beam scheduling and user grouping approach using the mutual angle information and channel correlation coefficient to reduce the multi-user interference. Then, we formulate a multi-domain resource allocation problem, where the joint impact of beamforming, bandwidth reservation, and power control is considered. Furthermore, an efficient algorithm is proposed to iteratively perform the sub-carrier and power allocation until satisfying the data rate and localization error-bound constraints after decomposing the large-scale problem into two small-scale sub-problems by the difference of the convex function algorithm. Numerical results show that the proposed algorithm achieves a good trade-off between data rate and localization error and has better performance than other previously proposed algorithms in the literature.