Create the menu icons you would like to use in a graphics software (I used Adobe Photoshop), being sure to use transparency/alpha channels. Don't forget to make your icons appropriately-sized, otherwise, you may break your menu. In order to preserve transparency, you must use either a PNG or GIF format for your icons. Upload the icons to a directory on your server, or use image hosting such as imgbb.

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 - Navigate to Admin>Pages

For each icon you want to change, click the "edit" button by hovering over the one you would like to change. Use the

< img src="linktoimage.com/buttonimage.png" >

code in place of the name (I.E., replace "Dashboard" with your img tag, using the link to your dashboard icon).

Do this for each menu button you wish to use a custom icon for.