When autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient transferable and adaptable driving capability. By mimicking humans' cognition model and semantic understanding during driving, we present HATN, a hierarchical framework to generate high-quality driving behaviors in multi-agent dense-traffic environments. Our method hierarchically consists of a high-level intention identification and low-level action generation policy. With the semantic sub-task definition and generic state representation, the hierarchical framework is transferable across different driving scenarios. Besides, our model is also able to capture variations of driving behaviors across different individuals and different scenarios among individuals and scenarios by an online adaptation module. We demonstrate our algorithms in the task of trajectory prediction for real traffic data at intersections and roundabouts, where we conducted extensive studies of the proposed method and demonstrate how our method outperformed other methods in terms of prediction accuracy and transferability.