www.dvdrhelp.com has lots of howto info. It's pretty dense sometimes, but very useful.
TMPGenc has a nice DVD authoring package. I was pretty happy with it.
TMPGenc is also the name of software that edits mpeg video pretty easily.
Not the greatest user interface IMHO, but the quality of its output is supposed to be very good.
I'd help more, but I got a new powerbook and I'm playing with all the apple video and dvd apps.
also...
dvd-r tends to play better for me. dvd+r has worked reasonably well, but just hasn't been as playable.