When you say "Panel" do you mean like a drop-down menu, or a navigation menu that's always visible?
The first 3 templates on the template page (
http://www.dokuwiki.org/Template ) feature drop-down menus which activate upon mouseover. Then there is arctic and its derivatives; that provides customizable panels/menus/whatever they're called.
..or you intend simply to replace the words with images?
Sorry if I misunderstand or confused things further.