Automatic Menu of all custom posts in the current custom taxonomy

I am using Custom Fields and Custom Types to build out some sub-sections of a website. I am using custom Taxonomies to allow for the creation of “mini websites” inside of the main site.

I am trying to develop an automatic menu system on the left side, and I’m unsure how to go about this. My taxonomy name is ‘sites’ and the post type is ‘client_project’

Here’s what I’d like it to do:
-Check to see what Custom Taxonomy the current post is in.
-Grab all posts in that taxonomy.
-Build out a menu with clickable links to all of those posts, while -maintaining the parent/child hierarchy of the posts.

So it would look something like this:

TAXONOMY NAME
———————
Post Number 1
Post Number 2
-Sub Post Number 1
-Sub Post Number 2
Post Number 3
-Sub Post Number 1
Post Number 4

Anyone have an example I could look at?