Show subcategories with descriptions and posts

Hello,
I have a client with a restaurant menu that is constantly changing. We have a category called “Menu” and then have subcategories that are her different sections of the menu “Small plates”, “Salads” that sort of thing.

What I’m looking to achieve is this:
I would like to be able to list out all of the sub-categories along with their descriptions, then the posts from that sub-category, all in an order that I can define.

I have done something like this before by having many different loops that all have the number of the desired category. However, I have never been able to get the title of the category or the description to display properly.

Any help would be greatly appreciated.