multidimensional tableselect
If you are looking to delete children as well with parent menu items seems like Delete menu options address this issue..

Project page says


  On the 'Delete menu item' confirmation page you can choose to delete
  child menu items and decide if the linking nodes should be deleted as
  well. When the checkbox 'Delete all children of this menu.' is
  checked, all child menu items of the parent menu item to delete, will
  be deleted as well. When the checkbox 'Delete nodes of the deleted
  menu items (only orphaned nodes).' is checked, the nodes to which the
  child menu items link will be deleted too. When other menu items link
  to same nodes or aliases as the nodes which were set out to be
  deleted, those nodes will not be deleted.