Grub will be the best for what you need.
Grub (GRand Unified Boot loader) will work with virtually any os and is highly configurable. It can be used with a GUI or command line, it can be user customized and it supports chain booting for systems that will not multi boot.
See
THIS wiki for more info.
I have used grub for quite a while to multi-boot windows 7/xp/linux/linux mint/ubuntu/debian/android, etc.
Mark