As an non-technical person it is very tough to add the icon into WordPress Menu. You need to add the unique css for every menu item and this is very time consuming process. For this reason I created a plugin and you can add Dashicon into your Genesis Primary/Secondary menu items by a single click.
At first you will install WordPress Menu Icon Plugin and activate the plugin. Next you will go to your menu page (Appearance->Menus). Add the menu item one by one.
Now expend the every menu item and you will get some extra features. Choose the Dashicon from “Icon” drop down list and setup their position from “Icon Position” drop down list. You will do this process for every menu items. Lastly you will save the menu. Now refresh your home page and you will get the icon for your menu items.