Another tool I dont see mentioned here is dvdwizard, which is a command
line tool, but once its configured it can easily create a dvd struct with
multiple titlesets with fancy automaticly selected screen shots for
backgrounds and chapter selections. I guess it can do video and sound
for the vmgm menu, but I havent used that feature. In its most simple
invokation, you could author a rather slick looking dvd like:
dvdwizard -T "My DVD Title" -t auto foo.mpg -t auto bar.mpg ....
('auto' just has it make a reasonable guess for the name of the titleset
to use in the menu, you can specify it if you want.)
I use it when I want to get some video on a dvd, and dont care enough
to customize or mess around with it.