Add a menu using shortcode. Usage: [print-menu name = "menu-name" class = "class1 class2"]. Defaults: name='primary', class=''.

wp_shortcode_print_menu.php

<?php
function syltec_print_custom_menu_shortcode($atts)
  {
      // Normalize
      $atts = array_change_key_case((array)$atts, CASE_LOWER);
      $atts = array_map('sanitize_text_field', $atts);
      // Attributes
      $menu_name = isset($atts['name'])?$atts['name']:'primary';
      $menu_class = isset($atts['class'])?$atts['class']:'';
      return wp_nav_menu(array(
          'menu' => esc_attr($menu_name),
          'menu_class' => 'menu ' . esc_attr($menu_class),
          'echo' => false));
  }
  add_shortcode('print-menu', 'syltec_print_custom_menu_shortcode');
?>