---Old tedious way---

• Insert key frame to property that you want to add noise modifier.

• Go to Graph Editor.

• Select proper property.

• Go to Modifiers tab in side panel and click Add Modifier drop down, then select Noise.

• Adjust parameter.
  

---With this add-on---

• Right click on property that you want to add noise modifier.

• Select Quick Noise Modifier.

• Adjust parameter in pop up window in 3D View.

This add-on is for active object and supposing to add to object Location/Rotation/Scale, bone Rotation/Scale, light property.

If you used this add-on from out of 3D View, press F9 in 3D View to show pop up window.