There is no native way to do this. Any options would be third party theming software, and I'm not sure that even those do this. Worth looking around google though.
Obisidian black menu bar changes the menu bar to black. However it doesn't change the text color of the menu bar. Meaning you'd have to pair it with istat pro menus which isn't free ($14) to change the color of the text
I've been able to change the selection color in the menu bar, the Help menu, and Spotlight through changes to resources in the SArtFile. I have not been able to locate the resource for the drop down menu color. Any ideas on the location of this/these resource(s)?