You have no big choice as only four programs for PC do not alter the stream: TDA 1.6, dvdauthor, DVD Lab Pro (DLP), and DVD Maestro. The last one is the best imo but you cannot buy it.
DLP has some issues with menu quality as it's not rendered as good as by two other programs. Don't import to DLP vob files, also for combining/joint as the final result can be out of sync. Thus the source video should be demuxed before importing.
You may check freeware
dvdauthor. It's quite good.
General rule: if you want good menu, do it it some external graphic program ;-)
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