A couple years ago (before I got DVD players that just play DivX), I managed this with both Toast and iDVD. Toast was actually way faster for this sort of thing, but that may have changed with later versions of both of these apps.
Since you should already have iDVD on your Mac, try that. I think if you do Magic DVD or One-step DVD or something like that (I think these are options when you launch iDVD), you won't have to do much menu customizing besides picking a theme.