Well, whatever editing software that you have, I suggest you put all of that together using that (since you seem to do a good job with your youtube videos) and then I recommend you upgrade your pc to windows vista (dont believe all those rumors, vista has all the kinks worked out and is doing just fine!) and built in it will have a DVD burning program called "windows DVD maker" where you can add a scene selection, main menu, and all the features of regular dvd.
If you don't want to upgrade to vista, there is a program my friend uses called Lightscribe. Now, I dont know to much about that, but I did see alot of information on google about it. I hope this helped!
Take Care
-Adam
New YouTube (for those that care)
YouTube - SymbioteReviewz's Channel