I use TMPGEnc Authoring Works 7, as it’s the only software I found that will actually let me make my own customized Blu-ray menus.
Pros: It works. Let’s you actually make your own menus. It has good file format support. It outputs good results. Company offers trial version. Cons: Price. Periodic online software validation checks. Some settings and menu-building options are difficult to find, understand, and get working properly.