Yes, you can go to the Admin Modules page (tiki-admin_modules.php) and find the "menu" module under the Assigned modules tab. It's under the "Left" tab within the Assigned modules tab content. Click the wrench/spanner icon to open the popup that contains the "Edit" link. On the edit screen that displays,. under the "Basic" tab, down at the bottom, you can see the "Groups" selector. Click "Admins" to select that group (this means only Admins can see the menu module) and then click the "Assign" button at bottom right.