Yes you can. Here is the plugin that is being used – http://wordpress.org/extend/plugins/dropdown-menus/ The documentation is in the read-me file inside of your lib folder of the theme, and can also be found on the plugin site as well. The code/function was added in the functions.php file so you can customize it however you would want it to be displayed.
/** Dropdown Menu */
add_action( 'genesis_after_header', 'drop_menu');
function drop_menu() {
echo '<div class="drop-menu">';
dynamic_sidebar( 'dropdown-menu' );
echo '</div><!-- end .drop-menu -->';
}