You can parent both figures to the prop however. There is a way to set up an IK link that will let you move the prop, and both figures arms. To do this set your scene with the two figures, each with the hand you want touching the prop, posed. Turn IK on for that arm. click on the hand (touching the prop) of one of the figures with the mouse to select it, go to OBJECT>Change Parent and select the prop. Click on the hand of the other figure and do the same. Now when you move the prop, the two figures arms will move.

On your shoe problem. Are you using conforming clothing shoes, single figure for both shoes or each shoe its own figure? Or are these prop shoes?

On the rotate problem. Load a box prop. Position it so that it is sort of center on the figure you want to rotate. Parent the figure/prop you are trying to rotate to the box prop. Can not be a conformed figure, otherwise,okay. Now use the dials on the box to rotate and position the prop/figure as desired. Open the property editor and turn visiblity for box off when done.