I’m not sure what you are asking for, but I think you need some general suggestions. So:
1) Websites are made by three layers. WordPress (like others good CMS) creates “only” TEXT menu because this is the (fundamental) semantic layer.
1-b) Then, you can always add a presentation layer (css) or a behaviour layer (javascript) in order to create an Image menu, also if WordPress gives you just the semantic layer. You can reach this with some techniques, one of these is the image replacement technique.
2) If you have understood the two points above, you can also understand that is not so useful to generate on the server side two different html. All that you need is to create a good semantic HTML (WordPress does it!) and after, via css and javascript, you can add all your images and behaviours.
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