Here’s a nice little toolkit. If you’re not the best PHP programmer in the world, then this might be for you. It simplifies some things that might be hard for a PHP novice. From the author’s mouth:
Adding an admin menu in your theme ensures that end users can customise things without editing source files, just as naturally as changing a WordPress option in the admin area.
WordPress Theme Toolkit is a PHP class that gives WordPress theme authors the opportunity of creating a persistent admin menu for their theme as easily as editing 3 lines in a file.
You can check out this WordPress theme toolkit here.