Let users create / list their own restaurant menu
Not totally sure what you're looking for. I'm going to assume that you're looking for a particular form to create a restaurant menu from the backend.

Drupal allows you to create this functionality OOTB (out of the box):


Fields (formerly cck pre Drupal 7)
User Roles
User Permissions


You're probably going to need to output this in a pretty fashion so your best bet are some standard contrib modules:


Views
Fields Collections


Nonethless, these modules are standard fare for every Drupal project (except maybe Fields Collections).

Oh i googled and there are possibly similar questions out there on SO: 


https://stackoverflow.com/questions/5204936/restaurant-menu-drupal-7
https://stackoverflow.com/questions/4935899/best-drupal-gui-for-displaying-a-tiered-restaurant-menu
https://stackoverflow.com/questions/1835562/drupal-content-type-restaurant-design