Adding Simple Social Icons to Navigation bar in Genesis. http://sridharkatakam.com/adding-simple-social-icons-navigation-bar-genesis/

functions.php

genesis_register_sidebar( array(
	'id'          => 'nav-social-menu',
	'name'        => __( 'Nav Social Menu', 'your-theme-slug' ),
	'description' => __( 'This is the nav social menu section.', 'your-theme-slug' ),
) );

add_filter( 'genesis_nav_items', 'sws_social_icons', 10, 2 );
add_filter( 'wp_nav_menu_items', 'sws_social_icons', 10, 2 );

function sws_social_icons($menu, $args) {
	$args = (array)$args;
	if ( 'primary' !== $args['theme_location'] )
		return $menu;
	ob_start();
	genesis_widget_area('nav-social-menu');
	$social = ob_get_clean();
	return $menu . $social;
}

gistfile1.css

.genesis-nav-menu .widget {
    float: right;
}

.genesis-nav-menu .simple-social-icons ul li {
	margin-bottom: 0 !important;
	margin-top: 0.7rem !important;
}

gistfile2.css

.genesis-nav-menu .widget-area {
    float: right;
    padding-top: 2.2rem;
}

gistfile3.css

.genesis-nav-menu .widget-area {
    float: right;
    padding-top: 1.5rem;
}

Rather than floating the icons, you can use flex to order them nicely... just apply it to the menu itself. For example, this adds them to the end of a centered, horizontal menu (as in a footer) :

.genesis-nav-menu { display: flex; flex-direction: row; justify-content: center; }

From there, it's just a matter of adjusting the css to match.