Editor like position and rotation change of a game object

I want to be able to change the position and rotation of game objects in my game world just like how the Unity Editor this does (see picture below). So when pressing a key inside the application you will be able to change the position or rotation of the object you selected.

I have found this script that can change the rotation based on which key you press. But I want to do it using the mouse (for both rotation and position) Does anyone have an idea on you to do this?

Maybe someone have already done this before? Or maybe there are open source scripts I can use?