Unzip the "menubar.swf" to somewhere in your objects folder, then place it in BRPG as an object.
If you are using BRPGv1.8a, you will need to use the Flash Settings panel to set its background to Transparent. Earlier versions of BRPG use transparent by default.
Position the menubar wherever you want it on the screen, then set it to Floating Object and Unmovable.
You can then disable the Commands panel from the last page of the preferences.
Note that I didn't include any features other than what you requested. I will eventually create a more robust menubar extension with other features and a different layout that will likely appeal to a wider audience, but I figured there's no reason to make you wait.

Tell me if you have any issues.
Edit by Heruca: File pulled until I can get a response from Omnidon about a potential permissions issue that could wreak havoc with game sessions if this is used.