This paper investigates the resource allocation and computation offloading problem for multi-access edge computing (MEC) systems, where multiple mobile users (MUs) equipped with multiple antennas access the base station in a non-orthogonal multiple access manner. We jointly optimize the offloading ratio, computational frequency and transmit precoding matrix of each MU to minimize the total energy consumption of all MUs while satisfying the latency constraints. The problem is formulated as a non-convex optimization problem and a two-layer iterative method is proposed to solve the problem efficiently with low complexity. Specifically, we first decompose the original problem into several subproblems, and then sequentially solve these subproblems in an alternative fashion. Furthermore, we also discuss the optimal decoding order of MUs under two different scenarios. Firstly, when the MUs' channel conditions are similar, by deriving closed-form expressions for energy consumptions of all MUs, we prove that the optimal decoding order is only determined by the latency requirements. On the other hand, when the MUs' channel conditions are different, we show that the optimal decoding order is determined by both the channel conditions and the latency requirements. As such, we propose a metric aiming to balance the effects of channel conditions and latency requirements on the MUs' decoding order. Simulation results validate the convergence of the proposed method and demonstrate its superiority over benchmark algorithms.