Sticky/Fixed footer in Genesis. http://sridharkatakam.com/push-footer-way-theres-little-content-genesis/

functions.php

// Move Footer widgets and Footer outside Site Container

// Reposition the footer widgets
remove_action( 'genesis_before_footer', 'genesis_footer_widget_areas' );
add_action( 'genesis_after', 'genesis_footer_widget_areas' );

// Reposition the footer
remove_action( 'genesis_footer', 'genesis_footer_markup_open', 5 );
remove_action( 'genesis_footer', 'genesis_do_footer' );
remove_action( 'genesis_footer', 'genesis_footer_markup_close', 15 );
add_action( 'genesis_after', 'genesis_footer_markup_open', 11 );
add_action( 'genesis_after', 'genesis_do_footer', 12 );
add_action( 'genesis_after', 'genesis_footer_markup_close', 13 );

// Enqueue scripts
add_action( 'wp_enqueue_scripts', 'sk_sticky_footer' );
function sk_sticky_footer() {

	wp_enqueue_script( 'sticky-footer', get_stylesheet_directory_uri() . '/js/sticky-footer.js', array( 'jquery' ), '1.0.0' );

}

sticky-footer.js

jQuery(function( $ ){
		$(window).load(function() {

			function stickyFooter() {
				var bodyHeight = $("body").height();
				var vwptHeight = $(window).height();
				if (vwptHeight > bodyHeight) {
					$(".site-footer").css("position","absolute").css("bottom",0);
					$(".site-footer").addClass('sticky');
				}
				else {
					$(".site-footer").css("position","static");
					$(".site-footer").removeClass('sticky');
				}
			} stickyFooter();

			/*resize*/
			var isIE8 = $.browser.msie && +$.browser.version === 8;
			if (isIE8) {
				document.body.onresize = function () {
					stickyFooter();
				};
			} else {
				$(window).resize(function () {
					stickyFooter();
				});
			}

			// Orientation change
			window.addEventListener("orientationchange", function() {
				stickyFooter();
			});

	});
});

style.css

.sticky.site-footer {
	width: 100%;
}