Select the menu via select2, select, radio, checkbox and etc input field.

Code Sample:

Via select2

array(
   'id'			=> 'menu_select_field',
   'title'		=> __('Menu select Field','text-domain'),
   'details'		=> __('Description of menu select field','text-domain'),
   'type'		=> 'select2',
   'args'		=> 'WPADMINSETTINGS_MENUS_ARRAY',
),
array(
   'id'			=> 'menu_select_field',
   'title'		=> __('Menu select Field','text-domain'),
   'details'		=> __('Description of menu select field','text-domain'),
   'type'		=> 'select2',
    'multiple'		=> true,
   'args'		=> 'WPADMINSETTINGS_MENUS_ARRAY',
),

Via select

array(
   'id'			=> 'menu_select_field',
   'title'		=> __('Menu select Field','text-domain'),
   'details'		=> __('Description of menu select field','text-domain'),
   'type'		=> 'select',
    'multiple'		=> true,
   'args'		=> 'WPADMINSETTINGS_MENUS_ARRAY',
),
array(
   'id'			=> 'menu_select_field',
   'title'		=> __('Menu select Field','text-domain'),
   'details'		=> __('Description of menu select field','text-domain'),
   'type'		=> 'select', 
    //'multiple'	=> true,
   'args'		=> 'WPADMINSETTINGS_MENUS_ARRAY',
),

Via checkbox

array(
   'id'		=> 'menu_select_field',
   'title'		=> __('Menu select Field','text-domain'),
   'details'	=> __('Description of menu select field','text-domain'),
   'type'		=> 'checkbox',
   'args'		=> 'WPADMINSETTINGS_MENUS_ARRAY',
),

Via radio

array(
   'id'		=> 'menu_select_field',
   'title'		=> __('Menu select Field','text-domain'),
   'details'	=> __('Description of menu select field','text-domain'),
   'type'		=> 'radio',
   'args'		=> 'WPADMINSETTINGS_MENUS_ARRAY',
),