Which "sample" version of the menu most closely matches what's on Milonic's homepage, right now? It's very cool... appears to be an image that used for the rollover "background" when you look at the items in the menu.
That is an image-based menu, so you could start with any of those samples and go from there to get the look you want. The samples are just that - samples. You could actually take any of the samples and edit them to get literally any look desired.
As to the Milonic page, it is new as of just a few days ago. Feel free to view the source to see what they have done - specifically at http://milonic.com/menu_data.php for the menu data.