Hold LButton and press wheelup.
This is a built-in menu for my radialm project, but I think that can be useful for many people.
Edit: This code work. The one before(also mine) had some errors

.
Code:
;author: Salvatore Agostino Romeo
selTask:
WinActivate, %A_ThisMenuItem%
return
;make it your favourite hotkey
~LButton & WheelUp::
Menu,kiu,add
Menu,kiu,deleteall
;get windows list
Winget, ids, list, , , Program Manager
Loop, %ids%
{
id:=ids%A_Index%
Wingettitle, title, ahk_id %id%
;exclude docks window and not needed ones
If title not contains dock
if(title!="")
Menu,kiu,add, %title%,selTask
}
Menu,kiu,show
return