Is there a way to use a hand to rotate on object or move an object which is already on camera rather than just drag an object on to the screen?
There is not any feature to allow the hand to move or rotate an element that is already on the canvas.
Please check if the idea has been suggested before by searching the forum. If it's been said before you can 'up-vote' the idea and it will boost the chance of it being implemented. If it's not been said before you can put it into the Ideas and feature requests section.