Add Search To Menu in Genesis http://wpsites.net/web-design/add-search-form-to-any-genesis-nav-menu/

Add Genesis Search Box To Primary Nav Menu.php

add_filter( 'wp_nav_menu_items', 'genesis_search_primary_nav_menu', 10, 2 );
/**
 * @author    Brad Dalton
 * @example   http://wpsites.net/web-design/add-search-form-to-any-genesis-nav-menu/
 * @copyright 2014 WP Sites
 */
function genesis_search_primary_nav_menu( $menu, stdClass $args ){
        
       
        if ( 'primary' != $args->theme_location )
        	return $menu;
        
               if( genesis_get_option( 'nav_extras' ) )
                return $menu;
        
        $menu .= sprintf( '<li class="custom-search">%s</li>', __( genesis_search_form( $echo ) ) );
        
        
        return $menu;
        
}