Bas van der Lans

This plugin allows you to display your WordPress Custom Menu in a Page, Post or other Custom Post Type. Easily by adding a shortcode.

Custom Menu Shortcode

This plugin allows you to display your WordPress Custom Menu in a Page, Post or other Custom Post Type. Easily by adding a shortcode.

Tanmoy

The normal Text widget allows you to insert arbitrary Text and/or HTML code. 
This allows that too, but also parses any inserted Shortcode and PHP code and executes smoothly.
All Shortcode must be enclosed in the standard [ and ] tags for it to be 
recognized. 
All PHP code must be enclosed in the standard tags for it to be 
recognized.

WP Sidebar Essential

Like the Text widget, but also allows working PHP code and shortcode to be inserted.

Custom Menu Shortcode vs WP Sidebar Essential