In order to get the values of the options instead of the index we can pass the values in a cell array to the menu function. The output can be achieved in the following manner (without using the fprintf function):
This code should do the job for you.
s={'Yanny','Laural'};
D3=menu('Who do you hear?', s);
if(D3 == 0)
disp('No choice selected');
else
disp(sprintf('D3= \n%s',s{D3}));
end