Попробуйте:
@bot.message_handler(commands=['menu'])
def menu(m):
cid = m.chat.id
menuKeyboard = types.InlineKeyboardMarkup()
menuKeyboard.add(types.InlineKeyboardButton('Button1', callback_data='button1'),
types.InlineKeyboardButton('Button2', callback_data='button2'))
bot.send_message(cid, "Menu", reply_markup=menuKeyboard)