A long press on the icon you want to move and you've picked it up (it comes "closer" to you and moves to be exactly under your finger). Drag it around and other icons will move around to preview/indicate where it'd be. Let go and it drops into place. There is no jiggling. You can also drag to Remove or Uninstall (Remove leaves it in the alphabetical app drawer).
Creating folders is the same as iPhone.
There is a caveat that if the icon was held very still then you'll open a menu similar to 3D touch menu. I never use this because it isn't that discoverable.
