You can do this with XSLT, which actually works in Chrome, Firefox, and Safari, both on mobile and desktop. (I've been using it in a small site of my own for a while.) You can even do stuff like page-dependent highlighting of menu items without any JavaScript.

Granted, I'm surprised XSLT is supported at all in modern browsers, and who knows how long it will continue to be supported, but it does work now for the basic "menubar at top" use case.