You may need to write some code if you want it to be dynamic based on the page and the associated menu, because at this point in time, I don’t know of a theme or plugin that performs that task. However, you can simulate the code on a page by page basis, through the creation of independent menus for individual pages and using a widget.
I prefer this plugin for such purpose:
or a sidebar plugin controller, which also works:
Sadly they haven’t updated this plugin for a few cycles, but I have clients who are still using it successfully.
Either way, the layout of the menus in the menu area is variable. Simply create a new menu item for each unique menu you want.