documentclass[oneside]{memoir}
usepackage{tikz}
usepackage{titletoc}
usepackage{lipsum}

begin{document}
tableofcontents
chapter{A chapter}
startcontents[chapters]
begin{tikzpicture}[overlay]
    node[fill=blue] {printcontents[chapters]{}{1}{}};
end{tikzpicture}
section{Section}
lipsum[1]
section{Section 2}
lipsum
chapter{Second chapter}
startcontents[chapters]
printcontents[chapters]{}{1}{}
section{Section}
lipsum[2]
section{Another section}
lipsum
end{document}

documentclass[oneside]{memoir}

usepackage{tikz}
usetikzlibrary{shadows.blur}

usepackage{titletoc}
usepackage{lipsum}

usepackage{calc}

definecolor{yourcolor}{HTML}{008bb2}

%define new chapter style (just for a nicer look)
makechapterstyle{mystyle}{%
  chapterstyle{default}
  renewcommand*{chapnumfont}{normalfontHugesffamilybfseries}
  renewcommand*{chaptitlefont}{normalfonthugesffamilyitshapecolor{yourcolor}}
  settowidth{chapindent}{chapnumfont 111}
  renewcommand*{chapterheadstart}{}
  renewcommand*{chapnamefont}{hfillcolor{yourcolor}normalfontHugesffamilybfseries}
  renewcommand*{printchapternum}{%
  begin{tikzpicture}[baseline={([yshift=-.6ex]current bounding box.center)}]
  node[fill=yourcolor,circle,text=white] {thechapter};
  end{tikzpicture}\[1ex]
  hrule height 1.5pt}
  renewcommand*{printchaptertitle}[1]{%
    {chaptitlefont ##1}}
}

%use new chapter style
chapterstyle{mystyle}

%command to print the acutal minitoc
newcommand{printmyminitoc}{noindenthspace{-2cm}begin{tikzpicture}
    node[rounded corners,align=left,fill=yourcolor, blur shadow={shadow blur steps=5}]{%
        color{white}%
        begin{minipage}{8cm}%minipage trick
        printcontents[chapters]{}{1}{}
        end{minipage}};
    end{tikzpicture}}

begin{document}
tableofcontents
chapter{A chapter}
startcontents[chapters]
%print minitoc
printmyminitoc



section{Section}
lipsum[1]
section{Section 2}
section{test}
section{abc}
lipsum
chapter{Second chapter}
end{document}

documentclass[twoside]{book}

usepackage{tikz}
usetikzlibrary{shadows.blur}

usepackage{titletoc}
usepackage{lipsum}

usepackage{calc}

usepackage[]{titlesec}
definecolor{yourcolor}{HTML}{008bb2}

colorlet{chpnumbercolor}{black}
makeatletter
letoldl@chapterl@chapter
defl@chapter#1#2{oldl@chapter{#1}{textcolor{chpnumbercolor}{#2}}}

letold@dottedcontentsline@dottedtocline
def@dottedtocline#1#2#3#4#5{%
old@dottedcontentsline{#1}{#2}{#3}{#4}{{textcolor{chpnumbercolor}{#5}}}}
makeatother

titleformat{chapter}[display]
  {normalfontcolor{yourcolor}}
  {filleftHugesffamilybfserieschaptertitlenamehspace*{2mm}%
  begin{tikzpicture}[baseline={([yshift=-.6ex]current bounding box.center)}]
    node[fill=yourcolor,circle,text=white] {thechapter};
  end{tikzpicture}}
  {1ex}
  {titlerule[1.5pt]vspace*{5ex}hugesffamilyitshape}
  []

titleformat{name=chapter,numberless}[display]
  {normalfontcolor{yourcolor}}
  {}
  {1ex}
  {vspace*{5ex}hugesffamilyitshape}
  []

%command to print the acutal minitoc
newcommand{printmyminitoc}{%
    noindenthspace{-2cm}%
    colorlet{chpnumbercolor}{white}%
    begin{tikzpicture}
    node[rounded corners,align=left,fill=yourcolor, blur shadow={shadow blur steps=5}]{%
        color{white}%
        begin{minipage}{8cm}%minipage trick
        printcontents[chapters]{}{1}{}
        end{minipage}};
    end{tikzpicture}}

begin{document}
tableofcontents
chapter{A chapter}
startcontents[chapters]
%print minitoc
printmyminitoc



section{Section}
lipsum[1]
section{Section 2}
section{test}
section{abc}
lipsum
chapter{Second chapter}
end{document}