For all Joomla 3+ templates built using the Zen Grid Framework v4 (any theme after October 2014) please refer to the Zen Grid Framework v4 documentation.
The superfish menu in the Zen Grid framework compatible templates is very easy to set up once you have the correct menu structure created for your menu. Please see the content item regarding how to create parent child menu items in Joomla for more information on how to do this.
Replicating the superfish menu is as simple as following and reproducing the settings as shown in the screenshot below. You will notice that the only thing that differentiates the super fish menu display and the panel menu display is the module class suffix -superfish. Beyond that setting up the two modules are completely the same.
Please note that you also need to either have the JB Library plugin, Zen Grid Framework plugin or jQuery loading on your site in order to use this menu.