I'm currently doing what you want with recorded programs from my Humax PVR9200T. I've connected the HDD from this to my notebook as an external usb drive, since the provided interface is slow and error-prone.
The transferred files have a .TS (transport stream) extension, but are in mpeg2 format. Process as follows:
- Demux streams with ProjectX (gives .mpa and .mpv files)
- Cut out adverts etc. with Mpeg2Schnitt
- Author DVD using GUI for DVDAuthor (normally get 2 or 3 films per disk)
- Burn to Verbatim DVD+R using ImgBurn
This is all free software, and Verbatim are just about the only disks to use.