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add_filter( 'genesis_nav_items', 'be_follow_icons', 10, 2 );
add_filter( 'wp_nav_menu_items', 'be_follow_icons', 10, 2 );
/**
 * Follow Icons in Menu
 * @author Bill Erickson
 * @link http://www.billerickson.net/genesis-wordpress-nav-menu-content/
 *
 * @param string $menu
 * @param array $args
 * @return string
 */
function be_follow_icons($menu, $args) {
    $args = (array)$args;
    if ( 'primary' !== $args['theme_location']  )
        return $menu;
    $follow = '<li id="follow">Follow: <a rel="nofollow" class="rss" href="'.get_bloginfo('rss_url').'"><img src="'.get_bloginfo('stylesheet_directory').'/images/feed.png" /></a> <a rel="nofollow" class="twitter" href="'.esc_url( 'http://twitter.com/' .genesis_get_option('nav_extras_twitter_id') ).'"><img src="'.get_bloginfo('stylesheet_directory').'/images/twitter.png" /></a></li>';
    return $menu . $follow;
}