Possibly the dialog package is what you want. From the man page:
"Dialog is a program that will let you to present a variety of questions or display messages using dialog boxes from a shell script"
If you have it installed, you can read about it by typing "man dialog".
To get an appreciation of the look and feel, type "make menuconfig" instead of "make xconfig" in the Linux source directory.
dialog doesn't need X - it is an ncurses program.