I got the code below from this forum (thanks member "webeingnet"!) and it is exactly what I need except for 1 little detail:
The grandchild links don't have their own li tags so they don't offset to the right from the sub-parent. Is there a way to modify this to do that?
[code moderated per forum rules - please read http://codex.wordpress.org/Forum_Welcome#Posting_Code ]
BTW The website for this is more CMS than blog and is for someone else who isn't even as code savvy as me so I'd prefer to avoid plugins and custom menus as a solution.