https://sridharkatakam.com/post-categories-shortcode-in-genesis-with-support-for-category-slug-classes/

gistfile1.php

// Customize entry meta in the entry footer
// http://my.studiopress.com/docs/shortcode-reference/#post-shortcodes
add_filter( 'genesis_post_meta', 'sp_post_meta_filter' );
function sp_post_meta_filter( $post_meta ) {
	$post_meta = '[post_categories before="Filed Under: "] [post_tags before="Tagged: "]';
	return $post_meta;
}

gistfile2.html

<span class="entry-categories">Filed Under: <a href="http://genesis.dev/category/category-1/" rel="category tag">Category #1</a>, <a href="http://genesis.dev/category/category-2/" rel="category tag">Category #2</a></span>

gistfile2.php

// Customize entry meta in the entry footer
// http://my.studiopress.com/docs/shortcode-reference/#post-shortcodes
add_filter( 'genesis_post_meta', 'sp_post_meta_filter' );
function sp_post_meta_filter( $post_meta ) {
	$post_meta = '[post_categories_plus before="Filed Under: "] [post_tags before="Tagged: "]';
	return $post_meta;
}

gistfile3.html

<span class="entry-categories">Filed Under: <a href="http://genesis.dev/category/category-1/" class="category-1" rel="category tag">Category #1</a>, <a href="http://genesis.dev/category/category-2/" class="category-2" rel="category tag">Category #2</a></span>