Menuwhere

Menuwhere pops up the front most app's menus at the current mouse location. By default, the menus appear when you hold down the Command key and right-click your mouse, but you can also optionally activate them via the keyboard.

With this tool, you can hide all inactive menu items, turning a forest of gray unobtanium into a targeted list of actual choices. With only visible menu items in the menu, it becomes much simpler to target the menu item you actually want without visually navigating through inactive menu items.

By adding a second keyboard shortcut to Menuwhere, you can open a menu showing the menus from all open apps. You can select a menu item from a background app, and Menuwhere will execute that menu item in the selected app. After a second or so, the app will come to the foreground, unless you told the app to quit or hide.