Suggest you take another look at the available TMPGEnc products, HERE
What you want is TMPGEnc-Author. It's about as simple as they come. You just add as many tracks as you want, then create a DVD with no menu. You can further add chapters to each track if you wish, but the tracks will also function as chapters.
I personally prefer Author v1.6, which they have stopped selling, but you may find it somewhere. v2.0 is also fine for most purposes.