Ah, MenuMachine. Just saying. I have not found an equal yet. It just worked.
Unfortunately, the developer has had larger issues to deal with, and was never able to make a DW-compatible version.
Pure CSS menus will likely be replacing clunky javascript and flash menus. The HTML is clean and readable as an UL list.
...and yes, iOS friendly too.
Here is one option: http://css3menu.com
And Google leads to many more.
North America
Europe, Middle East and Africa
Asia Pacific