Responsive menus for the Genesis Sample child theme. Source: StudioPress Beautiful Pro child theme.

responsive-menu.js

jQuery(function($) {
    $("header .genesis-nav-menu, .nav-primary .genesis-nav-menu, .nav-secondary .genesis-nav-menu").addClass("responsive-menu").before('<div class="responsive-menu-icon"></div>');
    $(".responsive-menu-icon").click(function() {
        $(this).next("header .genesis-nav-menu, .nav-primary .genesis-nav-menu, .nav-secondary .genesis-nav-menu").slideToggle();
    });
    $(window).resize(function() {
        if (window.innerWidth > 768) {
            $("header .genesis-nav-menu, .nav-primary .genesis-nav-menu, .nav-secondary .genesis-nav-menu, nav .sub-menu").removeAttr("style");
            $(".responsive-menu > .menu-item").removeClass("menu-open");
        }
    });
    $(".responsive-menu > .menu-item").click(function(event) {
        if (event.target !== this) return;
        $(this).find(".sub-menu:first").slideToggle(function() {
            $(this).parent().toggleClass("menu-open");
        });
    });
});

responsive-menus-genesis-sample-child-theme.css

/* Responsive Menus */

.responsive-menu-icon {
    cursor: pointer;
    display: none;
    margin-bottom: -1px;
    text-align: center;
}

.responsive-menu-icon::before {
    content: "\f333";
    display: inline-block;
    font: normal 20px/1 'dashicons';
    margin: 0 auto;
    padding: 10px;
}

@media only screen and (max-width: 768px) {
    .genesis-nav-menu.responsive-menu > .menu-item > .sub-menu, .genesis-nav-menu.responsive-menu {
        display: none;
    }
    .genesis-nav-menu.responsive-menu .menu-item, .responsive-menu-icon {
        display: block;
    }
    .genesis-nav-menu.responsive-menu .menu-item {
        margin: 0;
    }
    .genesis-nav-menu.responsive-menu .menu-item:hover {
        position: static;
    }
    .genesis-nav-menu.responsive-menu .current-menu-item > a, .genesis-nav-menu.responsive-menu .sub-menu .current-menu-item > a:hover, .genesis-nav-menu.responsive-menu a, .genesis-nav-menu.responsive-menu a:hover {
        background: none;
        line-height: 1;
        padding: 16px 20px;
    }
    .genesis-nav-menu.responsive-menu .menu-item-has-children {
        cursor: pointer;
    }
    .genesis-nav-menu.responsive-menu .menu-item-has-children > a {
        margin-right: 60px;
    }
    .genesis-nav-menu.responsive-menu > .menu-item-has-children:before {
        content: "\f347";
        float: right;
        font: normal 16px/1 'dashicons';
        height: 16px;
        padding: 16px 20px;
        right: 0;
        text-align: right;
        z-index: 9999;
    }
    .genesis-nav-menu.responsive-menu .menu-open.menu-item-has-children:before {
        content: "\f343";
    }
    .genesis-nav-menu.responsive-menu .sub-menu {
        border: none;
        left: auto;
        opacity: 1;
        padding-left: 25px;
        position: relative;
        -moz-transition: opacity .4s ease-in-out;
        -ms-transition: opacity .4s ease-in-out;
        -o-transition: opacity .4s ease-in-out;
        -webkit-transition: opacity .4s ease-in-out;
        transition: opacity .4s ease-in-out;
        width: 100%;
        z-index: 99;
    }
    .genesis-nav-menu.responsive-menu .sub-menu .sub-menu {
        margin: 0;
    }
    .genesis-nav-menu.responsive-menu .sub-menu .current-menu-item > a:hover, .genesis-nav-menu.responsive-menu .sub-menu li a, .genesis-nav-menu.responsive-menu .sub-menu li a:hover {
        background: none;
        border: none;
        padding: 12px 20px;
        position: relative;
        width: 100%;
    }
    .nav-primary .genesis-nav-menu.responsive-menu {
        padding-bottom: 16px;
    }
}

responsive-menus-genesis-sample-child-theme.php

<?php

//* Enqueue scripts and styles
add_action('wp_enqueue_scripts', 'beautiful_enqueue_scripts_styles');
function beautiful_enqueue_scripts_styles() {
    wp_enqueue_script('beautiful-responsive-menu', get_bloginfo('stylesheet_directory') . '/js/responsive-menu.js', array('jquery'), '1.0.0');
    wp_enqueue_style('dashicons');
}