move object around hierarchy parents without mouse dragging

Is there a way to change object's parent in hierarchy without moving it manually with mouse?

I need to assign object under exact bone for it to move along it inside game. (Weapon on hand bone for example.) But as you can imagine, there is a ton of bones, and dragging weapon object through all that is pain and time consuming.

So is it possible to for example send that object under exact parent somehow?

Idea: I am imaginning a option like "send to new parent" in dropdown menu, followed by search for that parent that will work kinda same as hierarchy search.