diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6c61195d229..c975aee0f03 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -60,6 +60,7 @@
 -   Fix CMake configuration summary incorrectly reporting `no` for system BLAS. (PR #7230)
 -   Add error handling for insufficient correspondences in AdvancedMatching (PR #7234)
 -   Exposed `get_plotly_fig` and modified `draw_plotly` to return the `Figure` it creates. (PR #7258)
+-   Add `GetMenu` for MenuBase for easy menu item/submenu control. (PR #7295)
 
 ## 0.13
 
diff --git a/cpp/open3d/visualization/gui/Menu.cpp b/cpp/open3d/visualization/gui/Menu.cpp
index 1c340bdc178..2207212b817 100644
--- a/cpp/open3d/visualization/gui/Menu.cpp
+++ b/cpp/open3d/visualization/gui/Menu.cpp
@@ -69,6 +69,14 @@ void Menu::InsertSeparator(int index) { impl_->menu->InsertSeparator(index); }
 
 int Menu::GetNumberOfItems() const { return impl_->menu->GetNumberOfItems(); }
 
+std::shared_ptr<MenuBase> Menu::GetMenu(const char* name) {
+    return impl_->menu->GetMenu(name);
+}
+
+std::shared_ptr<MenuBase> Menu::GetMenu(ItemId item_id) {
+    return impl_->menu->GetMenu(item_id);
+}
+
 bool Menu::IsEnabled(ItemId item_id) const {
     return impl_->menu->IsEnabled(item_id);
 }
diff --git a/cpp/open3d/visualization/gui/Menu.h b/cpp/open3d/visualization/gui/Menu.h
index 80381e99387..292eca4eaf9 100644
--- a/cpp/open3d/visualization/gui/Menu.h
+++ b/cpp/open3d/visualization/gui/Menu.h
@@ -45,6 +45,12 @@ class Menu : public MenuBase {
 
     int GetNumberOfItems() const override;
 
+    /// Get the Menu by name. Returns nullptr if not found.
+    std::shared_ptr<MenuBase> GetMenu(const char* name) override;
+
+    /// Get the Menu by ItemId. Returns nullptr if not found.
+    std::shared_ptr<MenuBase> GetMenu(ItemId item_id) override;
+
     /// Searches the menu hierarchy down from this menu to find the item
     /// and returns true if the item is enabled.
     bool IsEnabled(ItemId item_id) const override;
diff --git a/cpp/open3d/visualization/gui/MenuBase.h b/cpp/open3d/visualization/gui/MenuBase.h
index 29c2f5a9776..7eb17a8bf33 100644
--- a/cpp/open3d/visualization/gui/MenuBase.h
+++ b/cpp/open3d/visualization/gui/MenuBase.h
@@ -49,6 +49,12 @@ class MenuBase {
 
     virtual int GetNumberOfItems() const = 0;
 
+    /// Get the Menu by name. Returns nullptr if not found.
+    virtual std::shared_ptr<MenuBase> GetMenu(const char* name) = 0;
+
+    /// Get the Menu by ItemId. Returns nullptr if not found.
+    virtual std::shared_ptr<MenuBase> GetMenu(ItemId item_id) = 0;
+
     /// Searches the menu hierarchy down from this menu to find the item
     /// and returns true if the item is enabled.
     virtual bool IsEnabled(ItemId item_id) const = 0;
diff --git a/cpp/open3d/visualization/gui/MenuImgui.cpp b/cpp/open3d/visualization/gui/MenuImgui.cpp
index 430aedbd1db..c65a69586d9 100644
--- a/cpp/open3d/visualization/gui/MenuImgui.cpp
+++ b/cpp/open3d/visualization/gui/MenuImgui.cpp
@@ -135,6 +135,23 @@ void MenuImgui::InsertSeparator(int index) {
 
 int MenuImgui::GetNumberOfItems() const { return int(impl_->items_.size()); }
 
+std::shared_ptr<MenuBase> MenuImgui::GetMenu(const char *name) {
+    for (auto &item : impl_->items_) {
+        if (item.name_.compare(name) == 0) {
+            return item.submenu_;
+        }
+    }
+    return nullptr;
+}
+
+std::shared_ptr<MenuBase> MenuImgui::GetMenu(ItemId item_id) {
+    auto item = impl_->FindMenuItem(item_id);
+    if (item) {
+        return item->submenu_;
+    }
+    return nullptr;
+}
+
 bool MenuImgui::IsEnabled(ItemId item_id) const {
     auto *item = impl_->FindMenuItem(item_id);
     if (item) {
diff --git a/cpp/open3d/visualization/gui/MenuImgui.h b/cpp/open3d/visualization/gui/MenuImgui.h
index b3d9e410941..630468627dd 100644
--- a/cpp/open3d/visualization/gui/MenuImgui.h
+++ b/cpp/open3d/visualization/gui/MenuImgui.h
@@ -35,6 +35,9 @@ class MenuImgui : public MenuBase {
 
     int GetNumberOfItems() const override;
 
+    std::shared_ptr<MenuBase> GetMenu(const char* name) override;
+    std::shared_ptr<MenuBase> GetMenu(ItemId item_id) override;
+
     bool IsEnabled(ItemId item_id) const override;
     void SetEnabled(ItemId item_id, bool enabled) override;
 
diff --git a/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp b/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
index f5c125a1681..e29ab6652ff 100644
--- a/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
+++ b/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
@@ -1400,6 +1400,10 @@ Ctrl-alt-click to polygon select)";
         scene_->ForceRedraw();
     }
 
+    std::shared_ptr<MenuBase> GetMenubar() {
+        return Application::GetInstance().GetMenubar();
+    }
+
     void ShowSettings(bool show, bool cancel_auto_show = true) {
         if (cancel_auto_show) {
             can_auto_show_settings_ = false;
@@ -2427,6 +2431,10 @@ void O3DVisualizer::ModifyGeometryMaterial(
     impl_->ModifyGeometryMaterial(name, material);
 }
 
+std::shared_ptr<MenuBase> O3DVisualizer::GetMenubar() {
+    return impl_->GetMenubar();
+}
+
 void O3DVisualizer::ShowSettings(bool show) { impl_->ShowSettings(show); }
 
 void O3DVisualizer::ShowSkybox(bool show) { impl_->ShowSkybox(show); }
diff --git a/cpp/open3d/visualization/visualizer/O3DVisualizer.h b/cpp/open3d/visualization/visualizer/O3DVisualizer.h
index dcd97e770a9..81c4112e666 100644
--- a/cpp/open3d/visualization/visualizer/O3DVisualizer.h
+++ b/cpp/open3d/visualization/visualizer/O3DVisualizer.h
@@ -161,6 +161,10 @@ class O3DVisualizer : public gui::Window {
 
     void ResetCameraToDefault();
 
+    /// Get menubar from window system. The window came from
+    /// `Application::GetInstance()`
+    std::shared_ptr<gui::MenuBase> GetMenubar();
+
     void ShowSettings(bool show);
     void ShowSkybox(bool show);
     void SetIBL(const std::string& path);