To point MenuApp at different folders, you can create shortcuts to the utility and change the "Start in" entry to point at whichever folder you like. You can also start the program with different command-line arguments that open particular folders, such as -O to open your My Documents folder or -Q to open your QuickLaunch folder. A help document that comes with the download lists all the different options, along with instructions on using hotkeys and other features.
MenuApp is a small, focused tool best suited for quickly getting to a few files and folders. If you want a more full-featured utility for quick access to programs and files, take a look at the also-free or .