With vanilla Emacs there's no way that I'm aware of, as @db48x reported.

However, here are 3 libraries that let you do it: [La Carte](https://www.emacswiki.org/emacs/LaCarte), [Key See](https://www.emacswiki.org/emacs/KeySee), and [Icicles](https://www.emacswiki.org/emacs/Icicles).

## La Carte ##

Use completion to match anything in any menu-bar menu, anywhere, anytime. Doesn't matter where you are currently - what the current context is. You always have the entire menu-bar forest of menus available to you, and you can always match anywhere - any submenu or any menu item - in any of those menus.

## Key See ##

Use completion to match any key bindings, including menu-bar bindings. Command `kc-complete-menu-bar` limits candidates to the latter (i.e., not keyboard key bindings).

Completion candidates at any time are at a single menu level. But you can go back up a level by choosing the special candidate **`..`**.

## Icicles ##

This gives you everything that Key See gives you, [and more](https://www.emacswiki.org/emacs/Icicles_-_Key_Completion).

And it enhances the behavior of La Carte, giving you much more control over exploring the menu forest. Key features in this regard are [progressive completion](https://www.emacswiki.org/emacs/Icicles_-_Progressive_Completion), [sorting of candidates](https://www.emacswiki.org/emacs/LaCarte#SortingAndCycling), more [powerful matching](https://www.emacswiki.org/emacs/LaCarte#CompletionMatching), [showing candidate help, and filtering history](https://www.emacswiki.org/emacs/LaCarte#MoreIciclesBenefits).