If your menu is one of the standard "folder based" taskbar menu bars, then I think that stardock's right click will be able to do it. You can add a "folder based" menu in aout 2 minutes.
Just to test it i created a folder with games links, added it as a taskbar toolbar
Then I added the same one to right click commander and I get the same menu.
I don't know if that's what you meant?
"right click" is $9.99 but there's probably freeware tools that do the same, I just never looked for them since I had the object dekstop suite.
PS: I think it also can use any skin/windows style you have installed (I'm on XP) in the options menu, but I could be wrong. I actually don't use that tool (or object bar, its bigger brother) anymore, out of lazyness - Both wirekeys and sendman have customised my right click menu and I'm too lazy to see how to add them to rightclick or object bar...