This is an easy one - TMPGEnc Authoring Works 4 is a great tool.  It only cost about 100 dollars and allows authoring of all types of dvds and bluray discs.  Its easy to add footage, cut edit, change soundtracks - it had a medium selection of premade menus for the discs and allows you to create your own and customize.  It will export a disc image, a set of file, or burn to disc.  Many many options and easy to use at the same time.  In a world where many disc authoring tools create a lot of frustration, this one really stands out as a great buy and addition to your arsenal.