You can redefine the headline
, footline
and frametitle
templates; something along these lines:
\documentclass{beamer}
\definecolor{secinhead}{RGB}{249,196,95}
\definecolor{titlebg}{RGB}{51,51,51}
\setbeamercolor{secsubsec}{fg=secinhead,bg=black}
\setbeamercolor{frametitle}{fg=secinhead,bg=titlebg}
\setbeamertemplate{headline}
{
\leavevmode%
\hbox{%
\begin{beamercolorbox}[wd=\paperwidth,ht=8.25ex,dp=3.5ex]{secsubsec}%
\raggedright
\hspace*{2em}%
{\sffamily\Large\color{secinhead}\thesection.~\insertsection\hfill\insertsubsection}%
\hspace*{2em}%
\end{beamercolorbox}%
}%
}
\setbeamertemplate{frametitle}
{\vskip-3pt
\leavevmode
\hbox{%
\begin{beamercolorbox}[wd=\paperwidth,ht=1.8ex,dp=1ex]{frametitle}%
\raggedright\hspace*{2em}\small\insertframetitle
\end{beamercolorbox}
}%
}
\setbeamertemplate{footline}{}
\begin{document}
\section{Introduction}
\subsection{The questions}
\begin{frame}\frametitle{A test frame}Test\end{frame}
\subsection{Another questions}
\begin{frame}\frametitle{Another test frame}Test\end{frame}
\end{document}

Note however that probably you will have to redefine also some other templates to mantain consistency; for example, which color/font to use to display the frame title? which color for enumerated lists?
Another option, this time the frametitle will have to be given another definition:
\documentclass{beamer}
\definecolor{secinhead}{RGB}{249,196,95}
\definecolor{shadowbg}{RGB}{51,51,51}
\setbeamercolor{secsubsec}{fg=secinhead,bg=black}
\setbeamercolor{shadow}{fg=secinhead,bg=shadowbg}
\setbeamertemplate{headline}
{
\leavevmode%
\hbox{%
\begin{beamercolorbox}[wd=\paperwidth,ht=8.25ex,dp=3.5ex]{secsubsec}%
\raggedright
\hspace*{2em}%
{\sffamily\Large\color{secinhead}\thesection.~\insertsection\hfill\insertsubsection}%
\hspace*{2em}%
\end{beamercolorbox}%
}\vskip0pt%
\hbox{%
\begin{beamercolorbox}[wd=\paperwidth,ht=1.8ex,dp=1ex]{shadow}%
\mbox{}
\end{beamercolorbox}
}%
}
\setbeamertemplate{frametitle}{}
\setbeamertemplate{footline}{}
\begin{document}
\section{Introduction}
\subsection{The questions}
\begin{frame}Test\end{frame}
\subsection{Another questions}
\begin{frame}Test\end{frame}
\end{document}

Here's the code producing the vertical shading color for the second vertical "bar":
\documentclass{beamer}
\usepackage{tikz}
\usetikzlibrary{shadings}
\definecolor{secinhead}{RGB}{249,196,95}
\definecolor{shadowbg}{RGB}{51,51,51}
\setbeamercolor{secsubsec}{fg=secinhead,bg=black}
\setbeamercolor{shadow}{fg=secinhead,bg=shadowbg}
\setbeamertemplate{headline}
{
\leavevmode%
\hbox{%
\begin{beamercolorbox}[wd=\paperwidth,ht=8.25ex,dp=3.5ex]{secsubsec}%
\raggedright
\hspace*{2em}%
{\sffamily\Large\color{secinhead}\thesection.~\insertsection\hfill\insertsubsection}%
\hspace*{2em}%
\end{beamercolorbox}%
}\vskip-1pt%
\hbox{%
\tikz\draw[draw=none,top color=black,bottom color=shadowbg!60] (0,0) rectangle (\paperwidth,0.5);
}%
}
\setbeamertemplate{frametitle}{}
\setbeamertemplate{footline}{}
\begin{document}
\section{Introduction}
\subsection{The questions}
\begin{frame}
Test
\end{frame}
\end{document}
and here's the upper part of the resulting frame:

Of course, change the values for top color
, and bottom color
according to your needs (you can even select a middle color
value).