Nero has a program that does a decent job, not sure of the name of it. Otherwise Intervideo WinDVD Creator is another good one. Cyberlink Power Producer isn't my favorite, but it does a decent job.
I hven't tried it yet, though. Looks good, I'll be using it for my next project. I've tried Convertxtodvd and I'm generally pleased with the results. Very simple to use too