One client wants to be able to edit the titles of the menu items, but I don't want them to mess up the structure or remove the items by accident. So I created a custom module for this. Maybe it could be integrated into Menu Access? If not, at least the maintainer could tell me the proper way to accomplish this, now I just needed to get something done quickly.

<?php
// $Id$ 

/**
 * @file menu_control.module
 * Hides extra menu settings from certain users.
 */

/* Custom permissions */
function menu_control_perm() {
  return array('reorder menu', 'edit title', 'delete menu items');
}

function menu_control_form_alter(&$form, $form_state, $form_id) {
  if (isset($form['#node']) && $form['#node']->type .'_node_form' == $form_id) {  
    if(!user_access('delete menu items')) {
      unset($form['menu']['delete']);
    }
    
    if(!user_access('edit title')) {
      unset($form['menu']['link_title']);
    }
    
    if(!user_access('reorder menu')) {
      unset($form['menu']['parent']);
      unset($form['menu']['weight']);
    }
  }
}
?>