I start with mencoder, transcode, ffmpeg and later wrote some simple script based on All to DVD way of doing thing. I use DVDsyler to help me create the menu and put the dvd together. K3B is used to burn the disc. Yap, I wish there is a Gnome version of K3B.
Then I found this tovid tool set. It is actually a better set of tools particularly the tovid and todisc. I wrote some frondend scripts for Gnome nautilus-scripts interface. I document MyWorkFlow here. Gnome user might find it useful. Yap, I wish there is a K3B style interface for tovid. Gnome version would be nice. :)
See GnUI for tovid. You might find it useful if you have Gnome 2.14 running as your Desktop.