Ordering menu items

I was wondering if there is a plugin/widget which enables the admin to change the order of the menu items (pages) Also can I change the output of the way it handles subpages as at the moment it outputs:

<ul>
 <li><a href="foo.php">foo</a>
  <ul>
   <li><a href="bar.php">bar</a></li>
  </ul>
 </li>
</ul>

Where I would prefer for CSS purposes that it appears like this:

<ul>
 <li><a href="foo.php">foo</a></li>
 <li>
  <ul>
   <li><a href="bar.php">bar</a></li>
  </ul>
 </li>
</ul>

Any advice?