There's a good selection of authoring tools on this page:
http://www.videohelp.com/tools?s=2#2
Two of the most well-regarded are TmpgEncDVDAuthor (TDA) and DVDLab, TDA for ease of use, DLP for advanced stuff. I use an old version of TDA nearly all the time. For elaborate projects, GUIforDVDAuthor (free) can do just about everything DLP does, but everything is manual and the learning curve is steep. Plus you need other programs to prepare your assets: elementary streams, pgc commands, etc, etc.
Depends on how advanced you want to go. The only animated or motion menus I've made have been done manually with GfD by myself. So I dunno which authoring tools offer a library of them, not something I've investigated.
Good luck.
