The SparkPeople nutrition tracker has menu plans that are alright, but a little hard to plan based on personal recipes. I have recently started using Food on the Table, which has a free app on my iPhone. It's pretty versatile/dynamic and works well at tracking sales at local grocery stores. It also has pretty simple, easy family-friendly recipes with nutritional info so you can enter it into the nutrition tracker pretty easily. However, sometimes I find the recipes somewhat limited and haven't messed around with adding in alternative recipes from the internet, so don't know if it works well.
Otherwise, I've just used pen and paper or my calendar to schedule my menus and then create grocery lists. (I use a "menu" Google calendar and docs so I can share with my husband easily)
Here is an example of a monthly menu plan from a blog that helped me when I first started planning menus, which has some links to other good topics on menu planning: http://simplemom.net/a-monthly-menu-plan-for-the-spring/
| July Minutes: 1,082