DVD-V discs
Use Audiomuxer to make/build the dvd:
http://www.videohelp.com/software/AudioMuxer
Use IMGBurn to burn the dvd to a disc.
http://www.imgburn.com/index.php?act=download&
The Audiomuxer program is easy to use and self-explanatory.
1 Press "Select Audio" and select the Audio files (flac and wav only)
2 Make sure that Mux To is set to dvd.
3 Press "Mux to" and select the destination for the output folder
4 The program will build the dvd.
The program creates the folder "Video_TS"
5 Open Imgburn and choose "Write files/folders to disc
6 Click file/Browse for a source file
7 Select all the files in the Video_TS folder
8 Press "Burn"
Done
For dvd-audio discs I use DVD Audio Solo. It costs $50 but very easy to use and reliable. I have not found a free program that will burn DVD-A discs.