You’re on a Mac so you have a couple of options. It’s going to be easier for you if your DVD is a auto-play disc than an interactive one as most of the affordable Blu-Ray authoring tools are suspect.
If you just need an auto-play Blu-Ray see Toast 9. It will author those. Compress using the software of your choice (Sorenson’s okay, Apple’s Compressor comes with presets).
Adobe’s Encore is another option. However if you need to author an interactive menu please see Walter Biscardi’s tale of horror.
Good luck