Traditional menu designs are not well-suited for command selection on distant displays. We describe a n.ew interaction technique called the "roll-and-pinch menu" (rapMenu), and investigate the design space of remote menu selection using freehand gestural input. The rapMenu maps intuitive hand postures and gestures to a radial menu layout at two levels of granularity: the user rolls her hand to alter the wrist orientation, which makes a group of menu items selectable; then she touches her thumb to a particular finger (forming & pinch gesture) to select a specific item in that group. We present the visual design and behavior of the rapMenu, consider related design issues, examine design variations, and discuss the strengths and limitations of our approach.