I find that the easiest thing to do here is to just use Toast. I have an old version of Toast Lite that came with my external LaCie CD-RW, but if you don't have an OEM version you'd need to buy the retail version for $89.95. I'm not sure if it's worth it at that price, but Toast is usually pretty good at not leaving dotfiles if you didn't tell it to.
Barring that, one thing that would probably work would be to make a disk image, reformat it in MS-DOS format, copy the files onto it, go in and delete the dotfiles in the Terminal, unmount the image, and burn it.