Do you just want a file on the dvd (like a mp4 or mkv)? Or do you want to create an entire dvd-structure with menu's and all that kind of stuff?
First you need to get the video from YouTube. For that you can use the add-on called "YouTube Video and Audio Downloader (Dev Edt.). Go to video you want, click on the icon, click on download panel and select the highest quality mp4 you can find. Once you have that, you can burn it directly as a file to a dvd disc. If you want to create a dvd structure then this option should be available in your dvd burning software.