this is what i use..
http://www.bhphotovideo.com/c/product/583569-REG/Hauppauge_1212_HD_PVR_USB_Video.html
this in conjunction with its software transfers video directly from the DVR onto your hard drive as an mpg file. if you have even a cheap version of some DVD editing software you can then edit this file (removing commercials, possibly adding transitions, menus, etc) then burn the final DVD using the internal CD/DVD burner on your PC.
the advantage to using the PVR is it can transfer HD video if you happened to record it in HD using the right video cable (mine is RWGBR which i think is component). the video uses composite video (RWG) which in my experience doesn't transfer HD in as good a quality or format (letterboxes it) as component. of course if you don't care about the bells and whistles, the procedure in the video will work just fine (crude menus are added and the DVD it burns is your final product).