"Sunt două meniuri pe masă."

Translation: There are two menus on the table.

[Sadlo2]

It bothers me that the masa has the mark on it -- wouldn't that be "on a table" instead of "on the table"?

[ElMeuNom]

Yes, but in Romanian, you generally don't use the definite article after prepositions (except sometimes with cu)

[Zerr_]

Is this how you say "There are" for all things in Romanian?

[potestasity]

Yes, you can directly use the verb with nothing before it.
Also true in expressions like:
"It rains." - "Plouă."
"It's cold." - "E frig."

[Thomas.hnn]

"pe masă" means : on the table
But I saw "pe" means "on" / "per"
Is it true to translate it by : per table ?
Thank you :)

[KanthiAbra]

I thought masă is table and masa is the table, am I wrong?

[wyqtor]

You are correct, but when used with a preposition, you must drop the article (except when you also add some kind of description to the noun). Compare the following two sentences, both correct:

Sunt două cărți pe masă = There are two books on the table.

Sunt două cărți pe masa roşie = There are two books on the red table.

Hope that clears things up a bit :)