I think the plugin you mention is the one I wrote so if you’re looking for answer on how to do it take a look at the code. http://wordpress.org/extend/plugins/dropdown-menus/
Essentially all I did was create a custom menu walker class so I could output the menus created in the backend as a dropdown.
If it helps my plugin can actually be packaged within in a theme and included via the functions.php. Just wrap the include in a !function_exists('dropdown_menu') test and you’re good.
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