how to make menu using category?

I would like to make a menu from few pages. Idea is, that i will asign the page some category and menu title in some custom field and then I need to producte something like

<li><a href="page-address" title="Page title">Menu title from Customfield</a><li>

i wanted first to do it through blogroll, but it changes all “\address\” to “http:\\address\” probably thinking that i am an idiot and unable to write the address right.

The problem is that custom field title (necessary as I need one word page titles in menu). How can i produce it?