How to create a "navicon" effect I would to create a "navicon menu", like in this article.

It seems to be a standard for mobile and responsive sites.
Is there some module that do this?
The Superfish module does that. It integrates the Superfish jQuery script into Drupal. It has two responsive menu options for small screens; either rendering it has an accordion or a drop-down. I strongly recommend using the Dev version as it is 'production ready' and has multiple improvements over the older release.