With a DV camcorder, you can use the Pinnacle supplied (with Studio 10 and 11) app called Instant DVD (start,programs, Pinnacle Instant DVD Recorder).

You tell the app how long your expected tape source is, it will choose appropriate settings to make it fit on the DVD media of your choice, you hit start, IDVD will control the cam, and once the pre-selected period has elapsed you have a complete DVD just about immediately (have to wait for disk to be finalized).

 You can specify a custom menu to be used too.

Caveats:

Only mpeg audio and no alternatives selectable - may be a problem if you are in NTSC land.