Well to begin with I would recommend to visit www.lynda.com. There you can find many tutorials, some of them free some of them can be accessed for small member fees some can be purchased.
As far as menu goes you can start from Encore, wich has a templates for menus load them up and you can edit buttons, backgrounds, add pictures using Photoshop. Also you will be able to animate your in After Effects. But if the last one is not required then you will be done and just link the buttons to the chapter marks on timeline and burn it to disk.
Andrey - Thank you for your help! I have viewed some of the Lynda tutorials and they have been most helpful. A follow up to your answer below....do you ever use Photoshop to create your menu names. I have seen references to creating the names in the Photoshop layers with the following naming convention:
When is it helpful to use this instead of Encore?
Yes I do that all the time.
Actually I had created some menu templates within Photoshop and do slight mods as I need in order to match the color scheme and style of the edited video. Also I add some animations in After Effects.
Thank you for your help!