A very good program to use if you somehow manage to get a licensed version is DoStudio Authoring. Unfortunately I've only been able to use the 30-day trial which seemed to have authored projects not function properly if there's more than 3 video streams but I found it efficient to use.

You can create pop-up menus for both main menu where it just overlays on top of a video like commerical products, and within what titles you choose it for.

There's others like Sony Blu-print which I've never used as well as being way too expensive and Sonic Scenarist BD which I found too complicated.

But if you're wanting something more simple, Sony DVD Architect is a good one to use, though that's payware too.