Animation clips playing on Humanoid Avatar

How can we make a simple animation on some transform and rotation of a bone in Animation window and have that play on a character with an Humanoid Avatar?

The best I found is something like this
https://answers.unity.com/questions/1291893/is-it-possible-to-create-new-animation-clips-for-h.html

But this doesn't seem very elegant at all especially since you can't use scene Gizmos.

So, how would one go about adding something as simple as a 'head nod' clip created in the Animation window to a Humanoid Avatar?

Thanks!