Do restaurants in Japan have English menus?
Tourist areas and chains usually do; a ten-seat place in a back street usually does not. Asking for one in Japanese is normal and gets a straight answer, and if there is none, photo menus and plastic food displays carry you the rest of the way. Pointing at the dish you want is not rude.
Where this answer comes from
Say it in Japanese
Show the card to the staff. The Japanese, how to read it, and the recorded voice.