Assigning menu items to roles

It's possible to assign custom menu items to roles?

I mean, for instance i want grant access to myRole to certain menu items inside modules and to anotherRole grant access to another menu items inside the same module.

I have tried many things:

1. Creating cycles, duties and then privileges by going to system admin > security privileges > add > rich client , and assign them to roles. But when I'm adding the permissions I can't select all childs for an entry point so this becomes very difficult to perform.

2. By going to AOT, searching in menu items > displays and assigning them to privileges but this don't add all outputs and actions (I can visualize the display entry point but when i open it I can't see all buttons).

I have read about Security Development Tools but I don't have tried it.

Regards