I finally found a nice authoring tool, that is capable of handling all the audio tracks with proper menus. It's called Blu-Disc Studio MX. You can request the key to a full working 30 days trial version on their website.
Here are the menus I made:
They aren't animated but all have seamless background audio/video and with the popup menu (last picture) you are able to switch between the audio & subtitle tracks while the movie is playing.
I can really recommend the program, the full version costs 500 USD though...