You can use the 3D gizmo in the 3D window. For example:
In Preparemode to move pieces.
With the gizmo enabled, click a piece. The gizmo is displayed.
The gizmo has the following:
Red arrow for movement in the X axis (left and right)
Red curved line for rotation around the X axis
Red square for resizing
Green arrow for movement in the Y axis (up and down)
Green curved line for rotation around the Y axis
Green square for resizing
Blue line for movement in the Z axis (in and out)
Blue circle for rotation around the Z axis
To move the piece in the desired direction, drag the arrow or line. When you drag an arrow or line, it is displayed in yellow. For example, to move the piece right, drag the red arrow right. And to move the piece down, drag the green arrow down.
To resize a piece, drag the appropriate square in the direction you want to resize the piece.
The following image shows the 3D gizmo in action.