List-O-Rama will allow you to generate nice CSS inline menus in seconds. Just walk through the wizard insert the text of the links, choose the vertical, tabs or horizontal menu, choose one of the 22 CSS Designs and click on finish. The code is automatically generated and inserted in your page. It can't get any easier than this.
The extension is inspired by Ian Lloyd's List-O-Matic at www.accessify.com, and is free for all to use.