and Alexander mentioned something about using MarketPress as the menu maker.
It looks promising. However, I think me as the user of the plugin might need a fairly major customization on the plugin.
First, how to remove "move to cart" like shown in the products page, like this one: http://i40.tinypic.com/20a6nbo.png
Second, how to remove Quantity and Add to Cart on the single products page, like this one: