One way to move them around by dragging is:

1. Switch to the Top camera and zoom in or out so that your preview window shows the figure or prop you want to move and the place where you want to move it to.

2. Make sure you're using the Translate editing tool (the first on the left of the row of tools).

3. Select the figure (or prop) you want to move, and if it's a figure make sure this selection is the Body part and not anyhitng like "Hip", "Abdomen", "Right Hand", etc.

4. Hold down the shift key. As long as you hold the shift key down, your current selection will always stay selected.

5. What this means is that you're now free to move the mouse anywhere around your preview viewport and your character/prop will move in the X and Z planes (it won't lift off or sink into the ground).

6. When your figure/prop is where you want it, you can release the shift key, release the mouse button, and you can now pick another character to move or do whatever else is needed.

It's not as quick as being able to select something and then click elsewhere to instantly transport the object to that position, but it's as near as I've found given Poser's interface.