I mostly use
http://en.wikipedia.org/wiki/GnomeBaker">GnomeBaker but there are lots of alternatives. I am intrigued by DeVeDe.
http://www.dvdstyler.de">DVDStyler is a cross-platform free DVD authoring application that makes possible for video enthusiasts to create professional-looking DVDs. It is Free software distributed under the GNU General Public License (GPL).
http://varsha.sourceforge.net">Varsha is a GUI based DVD authoring tool for Linux.
http://tovid.wikia.com/wiki/Tovid_Wiki">Tovid is a collection of GPL video disc authoring tools; it can help you create your own DVDs, VCDs, and SVCDs for playback on your home DVD player. This is the tovid wiki, the official homepage of tovid.
http://www.rastersoft.com/programas/devede.html">DeVeDe is a program to create video DVDs and CDs (VCD, sVCD or CVD), suitables for home players, from any number of video files, in any of the formats supported by Mplayer. The big advantage over other utilites is that it only needs Mplayer, Mencoder, DVDAuthor, VCDImager and MKisofs (well, and Python, PyGTK and PyGlade), so its dependencies are really small.