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If you are looking for a pure CSS menu that is fairly easy to implement (standard hyperlinks with CSS), you will find an example and instructions here.
If you want to create a menu like the one on the left, it is based on Uberlink CSS List Menus by Project Seven. It looks and behaves like a standard image swapping menu, but it's nothing more than an unordered list with CSS link styles applied. It uses only two images for an unlimited number of links.
There are some limitations to this menu:
1. There can be only one level. It is not a popup or sliding menu.
2. If you want to use the "uberlink" feature, the menu cannot be in a locked area of a Dreamweaver template or used as an include file because the menu must have the "uberlink" on the current page.
For instructions on creating a vertical menu like the one on this site, go to the Creating The Menu page. If you want to create a horizontal menu or just want more information about the menu design, go to the Uberlink CSS List Menus page on the Project Seven site.