Is this what you want? The rotation vector is fixed in this code. But can easily make it variable as well.
Manipulate[ Graphics3D[ {{Yellow, Opacity[.05], Cuboid[{-0.5, -0.5, -0.5}]}, GeometricTransformation[Cuboid[{-0.5, -0.5, -0.5}], RotationTransform[x Degree, {1, 0, 0}]]}, Boxed -> False, PlotRange -> {{-1, 1}, {-1, 1}, {-1, 1}}] , {{x, 0, "degree"}, 0, 180, 0.1, Appearance -> "Labeled"}, TrackedSymbols :> {x}] You can also just use Rotate function
Manipulate[ Graphics3D[ {{Yellow, Opacity[.05], Cuboid[{-0.5, -0.5, -0.5}]}, Rotate[Cuboid[{-0.5, -0.5, -0.5}], x Degree, {0, 0, 1}, {0, 0, 0}]}, Boxed -> False, PlotRange -> {{-1, 1}, {-1, 1}, {-1, 1}}] , {{x, 0, "degree"}, 0, 180, 0.1, Appearance -> "Labeled"}, TrackedSymbols :> {x}]