At least one in your list doesn’t qualify as cheap…Premiere Pro is more than a little pricey.
The authoring program I use is DVDLab Pro, and it can certainly do this particular job for you. At $250 for the basic authoring tool, it isn’t dirt cheap either, but there is a fully functional trial available if you want to test it. And the help file that is included is first rate.
But it seems to me that what you are trying to do can be accomplished with most any basic authoring tool. Have you looked at a couple of free tools like DVDStyler or GUIforDVDAuthor?