Im sure the simplest and most common is nero, if you get one of the full new copis theres loads of choices of menu design and even Using you own pic, created in say photoshop, then tabs like hyperlinks to navigate around!
Or
Ive used Sonic MyDVD in the past and is also quite easy to use!
At uni i've been using adobe encore. Its pretty simple to get to grips with the basics and it can do some cool stuff. im sure you can download it from somewhere.
if your into photoshop etc you can get some sweet ones using proper dvd software, DVD studio pro is a good one, recognises .psd files and layers so you can create any sort of menu system you want.
you've got to design within certain peramiters though to make sure text will be visable on TV
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however there is a tv safe area within that, tv's dont show the whole image its kinda cropped, but aslong as text is within the areas marked then its 'safe' and will be seen on tv. Colours also have to be taken into consideration, tv dont have the same colour spectrum as a comp screen, white is a no no, its too bright and will flicker on a tv this is th same for most bright colours.
I'll have a dig around and put up and image to show what I mean.
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Edge MTB Magazine - doing it with a compact since 2004. WWW.EDGEMAG.CO.UK