How to add dockable and floating menus?

Hi there, how can I add floating and dockable menus like the ones Visual Studio IDE has?

I've tried SplitContainer, but it can't really be dragged accross the window. ToolStripContainer only works for MenuStrip, ToolStrip and StatusStrip, none of which being able to contain the controls I need, like say, ComboBox, RadioButton, CheckBox. And none of the other containers (GroupBox, Panel, etc.) can be dragged at all.
So how can I add such menus? Thanks in advance.