There are actually several ways you can create self voicing menus, depending upon your preference.
The most common way is to mimic the gesture based system voiceover uses (this is another reason why you might want to experiment with Voiceover yourself even if you cannot integrate it specifically).
If you used this a player would swipe left and right on the screen to move through the menu items successively, with each item being spoken.
So the ap would start and the player could swipe right to get to "single player" right again to "multiplayer" and right again to "options"
Double tapping on the screen with one finger would activate each menu item.
Another way is to use the corners of the screen. So when the ap starts the player would be told "hit the top right corner to start single player game, bottom left for multiplayer, bottom right for options" and would be able to do so.
This has the advantage of being a bit quicker than the swipe method, but the disadvantage of the player having to sit through and be told what each corner of the screen does, plus obviously you can only have a maximum of four menu choices if your using screen corners.
The third method I've seen is to use tapping with various fingers to activate items, eeg "touch the screen with one finger to scroll the menu, with three fingers to activate"
This is similar to the swipe method, but a little more clunky, especially in terms of activating items.