I did this for my own set, by ripping all menu pieces (including transitions and stuff) with DVD-Shrink, and converting those to uncompressed AVI via VirtualDub. I then edited and retouched them with Adobe AfterEffects. It's a little tricky painting out the menu items in some of the menus (like the Hoth menu from TESB, since there's a probe droid flying behind the menu items), but with some tricks and patience it does work. Also it helped that I work as a CG-guy, so that stuff was pretty straightforward

The whole menu authoring was done with Adobe EncoreDVD.

ANH Menu 1 ANH Menu 2 ANH Menu 3 ANH Menu 4 ANH Menu 5

TESB Menu 1 TESB Menu 2 TESB Menu 3 TESB Menu 4 TESB Menu 5

ROTJ Menu 1 ROTJ Menu 2 ROTJ Menu 3 ROTJ Menu 4 ROTJ Menu 5