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You have to convert the files to mpeg2, then use an authoring program to create a dvd menu and file system before burning them to disk.
The most complete gui program I've seen so far is qdvdauthor, which is based on the kde suite. It uses transcode for the conversion process and dvdauthor for the authoring system, all wrapped up in pretty nice interface. But I've also found that it isn't perfect yet. You may have problems if you try to do anything more than a simple disk. I've found that you often have to edit the dvdauthor .xml file or the cli program commands it uses before generation in order to get things working.
There are also a few other gui frontends for the various cli programs, but I don't know much about them myself. I believe k3b can do some simple format converting, for example.
Of course, you can also use the command line programs directly, and I suggest you don't dismiss the idea out of hand. Mplayer/mencoder or transcode take a bit of learning, but are really powerful once you know them. There's also a script package called tovid that aims to make conversion a little easier. I think dvd authoring is still better done in gui though, since you mostly need to be able to see what the final result will be like. There are other authoring programs out there, like dvdstyler, but they pretty much all use dvdauthor as the actual authoring engine.
Don't be afraid of the command line in any case. While there is more of a learning curve involved, it also opens up more power and flexibility. You just need to realize that in the end it's really only typing. The secret all lies in knowing what to type. Once I learned what commands and options to use it became very easy. I now find I actually prefer converting files with transcode directly than with a gui, for example.
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