When selecting a transform, the gizmo panel will show at the bottom of the Viewport Tab.
Dragging gizmo arrow handle will move the transform towards X, Y or Z. Dragging gizmo pan handle will move the transform on plane XY, YZ, or ZX. Click Local / World Dropdown will change transform position based on local or world space.
Dragging gizmo handle will rotate the transform around X, Y or Z axis. Click Local / World Dropdown will change transform rotation based on local or world space. Click Snap Toggle will turn on or off snapping, which will rotate in increments of 5 degrees. Pivot / Center Dropdown shows only when multiple transforms are selected.
Dragging gizmo handle will scale the transform towards X, Y or Z axis. Click Lock Toggle will change scale the transform only in one axis or all 3 axes.