To customize the brushes used in RadMenu, you need to edit the ButtonChrome
control which is found in each template of RadMenuItem. Be sure to check this help article
on modifying the ButtonChrome. Although it uses a RadComboBox , the process is the same for a ButtonChrome found in any other control.
I can see that the design you wish to have has solid colors, so I think you had better replace the ButtonChrome with simple visual elements (Borders, for instance) and animate them in the VisualStateManager. This approach is also described in the article.
I hope this will be helpful.
the Telerik team
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