I've managed to get a solution for this in the case where menus and fancy navigation is not required beyond chapter/title points. This means BDAV. Cyberlink PowerProducer4's jan '07 patch allows playlists to be played on the PS3 (meaning next chapter advances chapter and then title etc - and it does it without reencoding which is important if you want to preserve the quality of the stream). Just remember to edit the playlist and SAVE the playlist and load the playlist on the PS3.
It burns onto BD-R or BD-RE (I'd recommend BD-RE for now until the bugs are worked out) - It takes about 3 hours to burn a disk with around 22GB ( G=1024x1024x1024 ), and you should never get too close to the edge, leave at least 0.2GB of buffer out of that 22.5GB - the playlist seems to be huge too if you have a lot of chapters and titles.
This works for MPEG2, for AVC or VC1, you're going to have to find something else. Or write your own tool.
As for actual menus, that's a BDMV disk, and I've yet to find one that really works beyond a tiny 1GB test file. I need to spend more time on DVDIt Pro HD, but since that program always reencodes my test mpeg2 files, I am not exactly thrilled with it.