hey i know this post old but i will post answer in case someone search for this information

the answer in this video in the min 9.00

https://www.youtube.com/watch?v=SVO4yE6JF1c

you can do it by holding your shortcut for your current desired action(move,rotate.scale) then press LMP navigate to axis then custom set to object this will make the action you want relative to the object