K3b works well in general, although I've had a few problems. For another option I would suggest using this script in a folder with a compliant VIDEO_TS folder (only VOB menu) inside it. Run it as root and it creates a properly formatted burning directory with AUDIO_TS, gives it proper permissions, and runs it through your burning program.
Code:
#!/bin/sh
# Burn a video DVD with growisofs
# Create an AUDIO_TS subdirectory if it does not exist
[ ! -d AUDIO_TS ] && mkdir AUDIO_TS
chown -R root:root AUDIO_TS VIDEO_TS
chmod 500 AUDIO_TS VIDEO_TS
chmod 400 VIDEO_TS/*
growisofs -dvd-compat -Z /dev/sr0 -dvd-video .
Change "dev/sr0" to the location of your burner.
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