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I tried Tigra javascript menu from SoftComplex.Com and liked it because its quite simple to create & edit.
http://www.softcomplex.com/products/tigra_menu/
There is a menu builder which can be download for free.
http://www.softcomplex.com/products/tigra_menu_w32_builder/
And this post may help you more if you run into problems.
https://xoops.org/modules/newbb/viewtopic.php?topic_id=28662&forum=27&post_id=124949#forumpost124949
If you have already tried it then I apologies for wasting your time. Wish You A Happy New Year