You can use the FindId method to achieve this (see the "FindId Method" help topic to learn more).
BTW, if you need to identify an object by using one or more custom properties, you can use either the FindChild method or the Name Mapping feature (see the "FindChild Method" and "Name Mapping" help topics to learn more).
If the needed object in question has the ID property which contains an integer, you can use this method to find the object. However, I'm not sure that the function will help you identify an item in an owner-drawn menu, because such items are not present as separate nodes in the tested application's object tree. I recommend that you read the "Working With Owner-Drawn and Bitmap Menus" help topic to learn how to work with owner-drawn menus in TestComplete.