UPDATE: As of Genesis 2.2.3, Genesis navigation options are back!
UPDATE: As of Genesis 2.1, the option to insert a search bar from the Genesis options page is no longer available. To add a search bar, you will need to insert some code into your functions.php file. Here is the code for adding Genesis navigation extras.
Add Search Bar to Genesis Navigation
This tutorial is specifically for the Genesis Framework. To add a search bar to the navigation menu in Genesis (just like EngageWP.com), simply navigate to Genesis → Theme Settings → Navigation and select the “Search Form” option from the dropdown (see below). If you don’t see the Navigation section, make sure it’s enabled by checking your Screen Options at the top-right corner of the page. Save you changes and you’re good to go.