TMPGenc DVD Author (payware) will do what you want. It takes the VRO and makes MPEG-2 files. It's a very quick process.
You can then edit those MPEG-2 files to take out commercials, etc. within Author.
All you need do after that is to create your menu, add chapter points if you wish, and open the "DVD Writing Tool" in Author and burn to a -R.
You can get AC3 support if you also purchase the AC3 plug-in for Author (about $29).