<?php

$menu_id = 761;
$menu_items = wp_get_nav_menu_items($menu_id);
?>
<?php foreach ($menu_items ?: [] as $menu_item):?>
    <li class="menu-item">
        <a href="<?=esc_url($menu_item->url);?>"><?=$menu_item->title?></a>
    </li>
<?php endforeach ?>