You can use the "Data Burning" tab in Nero.
The key is to make a VIDEO_TS folder (place the .vob, .bup etc. files in this folder) and an AUDIO_TS folder (which will be left empty but is necessary for certain players). Burn both folders and the contents to the dvd.
If you don't have Nero and don't want to spend the money, you can use ImgBurn for free. It will do the same thing with its "Burn" feature. Follow these steps:
Also, if certain disks burn fine and others screwing up, odds are you need to clean your optical drive, especially if you have a laptop (as their optical drives tend to get 'gunked'). I recommend a q-tip and some rubbing alcohol (worked great for me... no more screw ups).