Genesis 2.2+ custom archive page template for customizing sitemap output. Copy the page_archive.php file, edit it as desired per the Usage.txt instructions below, and FTP it up to your Genesis child theme directory. Then create a page using the Archive page template to display your results.

page_archive.php

<?php
	/*
	 *
	 * Template Name: Archive
	 *
	 * Replaces standard Genesis Archive page template to allow for customization of output
	 *
	 */

//Replace the content
remove_action( 'genesis_post_content', 'genesis_do_post_content' );
remove_action( 'genesis_entry_content', 'genesis_do_post_content' );

add_action( 'genesis_post_content', 'wsm_page_archive_content' );
add_action( 'genesis_entry_content', 'wsm_page_archive_content' );

function wsm_page_archive_content() {
	
	$heading = ( genesis_a11y( 'headings' ) ? 'h2' : 'h4' );

	wsm_sitemap( $heading );
	
}

function wsm_sitemap( $heading = 'h2' ) {
	
	// edit these functions as desired with the parameters listed in the WordPress Codex

	$sitemap  =  sprintf( '<%2$s>%1$s</%2$s>', __( 'Pages:', 'genesis' ), $heading );
	$sitemap .=  sprintf( '<ul>%s</ul>', wp_list_pages( 'title_li=&echo=0' ) );

	$sitemap .=  sprintf( '<%2$s>%1$s</%2$s>', __( 'Categories:', 'genesis' ) , $heading );
	$sitemap .=  sprintf( '<ul>%s</ul>', wp_list_categories( 'sort_column=name&title_li=&echo=0' ) );

	$sitemap .=  sprintf( '<%2$s>%1$s</%2$s>', __( 'Authors:', 'genesis' ) , $heading );
	$sitemap .=  sprintf( '<ul>%s</ul>', wp_list_authors( 'exclude_admin=0&optioncount=1&echo=0' ) );

	$sitemap .=  sprintf( '<%2$s>%1$s</%2$s>', __( 'Monthly:', 'genesis' ) , $heading );
	$sitemap .=  sprintf( '<ul>%s</ul>', wp_get_archives( 'type=monthly&echo=0' ) );

	$sitemap .=  sprintf( '<%2$s>%1$s</%2$s>', __( 'Recent Posts:', 'genesis' ) , $heading );
	$sitemap .=  sprintf( '<ul>%s</ul>', wp_get_archives( 'type=postbypost&limit=100&echo=0' ) );

	echo $sitemap;

}

genesis();

Usage.txt

The functions can be modified as needed using parameters from the WordPress Codex. 

For example, to exclude specific pages line 30 above would be changed to this instead:
	$sitemap .=  sprintf( '<ul>%s</ul>', wp_list_pages( 'title_li=&echo=0&exclude=174,180' ) );
Where 174 & 180 are the page ID's of the pages to be omitted.

Here are the respective Codex pages for each function to find what parameters can be used:

wp_list_pages()
https://codex.wordpress.org/Function_Reference/wp_list_pages

wp_list_categories()
https://codex.wordpress.org/Function_Reference/wp_list_categories

wp_list_authors()
https://codex.wordpress.org/Function_Reference/wp_list_authors

wp_get_archives()
https://codex.wordpress.org/Function_Reference/wp_get_archives