DMG Custom Menu Widget

Displays a menu created on the ‘Appearance > Menus’ page as a list of links.

Includes advanced options to add CSS styles, modify the title and add HTML/ Text before and after each link.

Replaces the built in Menus Widget (WP_Nav_Menu_Widget).

A hook is available to filter the title: dmg_custom_menu_widget_title.

For example, to change the title on a single page or post, you could add this to your functions.php file:

function myTitleFilter( $title )
{
    if( is_singular() )
    {
        return "$title";
    }
    else
    {
        return $title;      
    }
}
add_filter( 'dmg_related_pages_widget_title' , 'myTitleFilter');

More information about this plugin can be found at http://dancoded.com/wordpress-plugins/custom-menu-widget/.