Millionaire's budget: Scenarist
Very Expensive: Vegas Pro or Adobe Encore
Expensive: DVDLab Pro
Budget: Vegas Movie Studio
Free: GUIforDVDAuthor or a program that does more than just menu/dvd authoring, like MultiAVCHD or DVDStyler
Edit: Be careful installing DVDStyler, as they have added some dubious "optional" software that you have to avoid.