Example:
git tag -a v1.2 9fceb02 -m "Message here"
Where 9fceb02
is the beginning part of the commit id.
You can then push the tag using git push origin v1.2
.
You can do git log
to show all the commit id's in your current branch.
There is also a good chapter on tagging in the Pro Git book.
Warning: This creates tags with the current date (and that value is what will show on a GitHub releases page, for example). If you want the tag to be dated with the commit date, please look at another answer.