Hi!
If you want to make your own menu to your VCD, I recommend you to use VCDEasy. There's a lot of great guides of how you can make simple and advanced menus with VCDEasy.
I know that the program might look hard to understand in the beginning, but once you have made your own working VCD with menu and all, you'll find it very easy.
The menu itself can be made in any paintprogram (even MS-Paint). Take a look again in the guides and give it a try.
// Znooky