You might also try
DVD Flick. I've never actually used it, but it's at the top of my list next time I need to make a DVD. Nice reviews (I found if through a review) and website makes me think that it's a good program. Completely free software as well.
To burn a DVD-Video from a fileset, use the DVD-Video mode of your burning program. Using this mode automatically selects the correct paramaters for the disk. Add files to the disk so that you end up with something like this:
In the root of the disk, a VIDEO_TS and an AUDIO_TS folder. Inside your VIDEO_TS folder, you should have IFOs, BUPs, and VOBs. If you wanted, you could add other files to the disk, these would be ignored by a set-top DVD player, as long as the rest of the structure is properly written.