That depends on whether your tv shows are already in mpeg2, compliant to dvd video specifications. If you aren’t sure, open them with MediaInfo to find out resolution, framerate, and the type of video and audio codecs used in them. This page at Wikipedia shows the allowed specifications: http://en.wikipedia.org/wiki/Dvd_video
If they are already compliant, you can use a simple authoring tool like DVDStyler. Another free option would be GUIforDVDAuthor, though I have never thought of it as being particularly easy to work with.
If you need to reencode them, try FAVC or DVDFlick. They will produce a finished dvd ready to burn to a disk.