Styling for a vertical navigation that is fixed and full-height. http://www.calvinkoepke.com/add-a-mobile-friendly-off-canvas-menu-in-genesis

style.css

/*
	Title: How to Add a Mobile-Friendly, Off Canvas Menu in Genesis
	Author: Calvin Koepke (@cjkoepke)
	Link: http://www.calvinkoepke.com/add-a-mobile-friendly-off-canvas-menu-in-genesis
*/

/* Genesis Navigation Menu
--------------------------------------------- */

.genesis-nav-menu {
	font-size: 16px;
	line-height: 1;
	list-style: none;
	margin: 0;
	padding-bottom: 40px; 
}

.genesis-nav-menu .menu-item {
	margin: 0;
}

.genesis-nav-menu .menu-item a {
	display: block;
	color: #ffffff;
	padding: 10px 40px;
	font-family: "Raleway", sans-serif;
	font-weight: 600;
	font-size: 16px;
	text-transform: uppercase;
	border-bottom: none;
	opacity: .6;
	
	/* Transitions */
	-webkit-transition: all .15s ease-in-out;
	-moz-transition: all .15s ease-in-out;
	-ms-transition: all .15s ease-in-out;
	-o-transition: all .15s ease-in-out;
	transition: all .15s ease-in-out;
}

.genesis-nav-menu .menu-item a:hover {
	opacity: 1;
    color: #fff;
}

.genesis-nav-menu .current-menu-item > a,
.genesis-nav-menu .sub-menu .current-menu-item > a:hover {
	opacity: 1;
}

.genesis-nav-menu .sub-menu {
	display: block;
}

.genesis-nav-menu .sub-menu a {
	display: block;
	font-size: .9em;
	line-height: 1.2em;
	text-transform: none;
	font-weight: normal;
	margin-left: 20px;
	-webkit-font-smoothing: antialiased;
}

.genesis-nav-menu .menu-item:hover {
	position: static;
}

/* Primary Navigation
--------------------------------------------- */

.nav-primary {
	position: fixed;
	width: 260px;
	height: 100%;
	top: 0;
	right: 0;
	z-index: 9999;
	background: #010101;
	overflow: auto;
	-webkit-overflow-scrolling: touch;
}

.nav-primary a {
	color: #fff;
}

.nav-primary a:hover,
.nav-primary .current-menu-item > a,
.nav-primary .sub-menu .current-menu-item > a:hover {
	color: #cb6c28;
}

/* Menu Button
--------------------------------------------- */

.site-header > .wrap {
	position: relative;
}

.menu-btn {
	position: absolute;
	top: 40%;
	right: 0;
	color: #000;
}

.menu-btn:hover,
.off-canvas-active .menu-btn {
	color: #e5554e;
}

.menu-btn span {
	line-height: 1.6;
}

/* Close Button
--------------------------------------------- */

.nav-primary .close-btn {
	color: #fff;
	display: block;
	opacity: .4;
	font-weight: 300;
	font-style: italic;
	font-family: "Roboto Slab", serif;
	font-size: 16px;
	padding: 50px 40px 20px;
}

.nav-primary .close-button:hover {
	text-decoration: none;
	opacity: 1;
	color: #fff;
}

.nav-primary .close-button span {
	float: right;
	font-size: 16px;
	margin-top: 2px;
	font-weight: normal;
}