kimipooh

The plugin is the framework for setting up the floating menu in WordPress.
I tested up the following themes, but I don’t engage the perfect work because I’m not designer. 
Please fixing the codes in each JavaScript file or the theme for your environment.
<ul>
<li>Twenty Eleven</li>
<li>Twenty Twelve</li>
<li>Twenty Thirteen</li>
</ul>

WP Floating Menu Framework

The plugin is the framework for setting up the floating menu in WordPress.

Luiz Sobral

This plugin creates a floating menu set to the left position.
You can set: 
* Choose a custom menu 
* the color of the menu options: font e background 
* the vertical position of the screen
Set the options in Settings / Larbous Floating Menu

Larbous Floating Menu

This plugin creates a floating menu set to the left position. Set the options in Settings / Larbous Floating Menu

WP Floating Menu Framework vs Larbous Floating Menu