Go to Devede options and choose mencoder for menus, do not choose ffmpeg 'cause ffmpeg will fail to create a usable menu, don't ask me why 'cause I don't know, maybe another member of the forum can enlighten us!
I checked the default settings on DeVeDe here ...
Encode for Videos: ffmpeg
Encode for Menus: mencoder
So it appears the default settings should do as you advised.
Note: I only checked the settings for Video DVD
BTW .... thanks for the 'heads-up' on ffmpeg failing with menus