There's one easy solution for those who watch DVDs on their PC: download VLC Player. (No, this is not meant to be a marketing plug. VLC is free anyway.) It's available for other OSs as well (Mac, Linux, etc) but because I do not use those, I have no idea if my below statements are true for them as well.
The program does not allow "frozen pages" that you can't skip or fast forward through. I have not yet found a case where these menus come up and I can't quickly bypass them in one way or another, and in many cases the pages aren't even displayed at all. You can even fast forward or skip ahead on menus (such as fancy unskippable scenes when taking you from one menu to another)
The only feature VLC doesn't have (that I've noticed) compared to any standard DVD software is an "angle" button, and how often do you use that?