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.
I know, and I've tried a bunch of them. Either unstable or too basic (or both) or Flash-based. I still use MM, but submenus will not work on iPad or iPhone.
Will eventually have to fix that problem, and hope that someone will come on board with as good a product.
...and yes, iOS friendly too.
Here is one option: http://css3menu.com
And Google leads to many more.
I've tried most of these, and none are as customizable or as easy to use as MM.
Hoping someone will come up with a good alternative, but I haven't seen it. Spent 5 times the cost of MM paying for these others.