Hi,

I've written a small shortcode that can do this.

Place the code from the text file I've attached to your theme or child-theme functions.php file.

Then you can display the categories via shortcode [stec_categories_list].

Examples:

[stec_categories_list]
[stec_categories_list title="Calendar Categories"]

The html generated is like following:

<div class="stec-categories-list">
    <p class="stec-categories-list-title">Calendar Categories</p>
    <ul>
        <li data-cat-id="1"><a href="#">Category 1</a></li>
        <li data-cat-id="2"><a href="#">Category 2</a></li>
    </ul>
</div>