StudioPress has a Github repo called ResponsiveMenus.js for their responsive mobile menu code which is already included in their newer child themes like the Genesis Sample.
This tutorial provides the steps to replace the older mobile responsive menu code with Genesis ResponsiveMenus.js in Minimum Pro.
Tested in Minimum Pro 3.2.1.
Step 1
Replace the entire code in js/responsive-menu.js with this code.
Step 2
Edit functions.php.
a) Replace
wp_enqueue_script( 'minimum-responsive-menu', get_bloginfo( 'stylesheet_directory' ) . '/js/responsive-menu.js', array( 'jquery' ), '1.0.0' );
with
