Well, yes and no.
Most DVD Recorder units can write DVD VR discs - these can be fully edited on a PC.
A DVD-ROM drive could read DVD VR discs but can't edit them or play them back. If you want to make changes to a DVD VR disc on a PC, you would obviously need a DVD Rewriter to write back to a DVD in order to see the changes made to the DVD VR disc on your PC DVD drive or your DVD Recorder or another DVD Player.
And I wouldn't rely too much on the VCD format if I was you. The picture quality isn't very good, you can only hold 80 minutes of video on one disc and the menu creation possibilities are very limited.