Before using IFOedit, the .vob (an MPEG2 file), needs to be demultiplexed into .m2v and .mp2 files by something like Project X.
These two files are then accepted by IFOedit for building the DVD-Video compliant files, which can then be burned to a DVD disc. In this case it will have to be a double layer disc to fit the total of ~5.3 GB.
Guides to the use of Project X and IFOedit can be found at doom9 here, (although the Project X one refers to an earlier version for which the layout is not the same).
An alternative to burning the DVD-Video files straight to DL disc is to create an ISO image of the DVD compliant files using ImgTool Classic, which can then be opened by DVD Shrink and compressed to fit a single layer 4.7 GB disc.
All freeware tools.