Here is another really awesome way to do this.
There are the other options above such as
1) trying to get mint menu installed by PPA (or compiling for my powerpc)
2) by PPA or (compiling for my powerpc) the elementaryOS slingshot launcher
3)
install dockbarX from webupd8 ppa (i had to compile it from their source )
DockbarX is an amazing dock applet for xfce panel. It combines the launchers and taskbar into one so that clicking on an icon will not create a new icon on the panel.
This allows you to create a launcher for the xfce4-appfinder
and create an icon for it like I did with the ubuntu-logo
icon
Then you can run the app and just keep it open the whole time. It will work just as if it were a menu icon but FASTER!
As of 2013 spring, this question has been solved by whisker menu.
Here are some PPAs
Install Whisker Menu in Xubuntu
To add the official PPA and install Whisker Menu in (X)Ubuntu 13.10, 13.04, 12.10 or 12.04 (with Xfce 4.8), use the commands below:
sudo add-apt-repository ppa:gottcode/gcppa
sudo apt-get update
sudo apt-get install xfce4-whiskermenu-plugin
Important: if you're using (X)Ubuntu 12.04 and you've upgraded to Xfce 4.10, use the following PPA:
sudo add-apt-repository ppa:landronimirc/xfce
sudo apt-get update
sudo apt-get install xfce4-whiskermenu-plugin
Once installed, right click the panel and select Panel > Add New Items, then select "Whisker Menu" and click "Add".