Actually you can burn dvd-5's (single layer dvd's) on the fly. Just put your dvd you want to copy in the reader put a blank in the writer. Make sure anydvd is running then start clonedvd. Next select the option that says write existing data. Next find your dvd reader drive letter and browse to the VIDEO_TS directory, next select your dvd writer on the right side of the window then click on go
I've done this and it works just fine as long as the dvd isn't scratched to badly.
DVD-9's (2 layers) can't be done this way sinse the files have to be re-muxed to make it fit on a 4.7g dvdr.