You can use tf.convert_to_tensor()
:
import tensorflow as tf
import numpy as np
data = [[1,2,3],[4,5,6]]
data_np = np.asarray(data, np.float32)
data_tf = tf.convert_to_tensor(data_np, np.float32)
sess = tf.InteractiveSession()
print(data_tf.eval())
sess.close()
Here's a link to the documentation for this method:
https://www.tensorflow.org/api_docs/python/tf/convert_to_tensor