Sony Vegas Pro ($500 - $600 USD) can do just about anything the DVD spec allows.
For these professional features in relatively low-cost software, check-out DVD-Lab
($130 - $250 USD for the versions that handle more than one soundtrack).
I've been using DVD-Lab for a couple of years and I'm satisfied with it, but there are a couple of issues to be aware of - It's a DVD authoring application only
. It's not a video editor and it doesn't have an MPEG-2 encoder or Dolby AC3 encoder. You can't add unlinked text to a menu. If you want a "title" or other text in your menu, you need to add it to your background still (with a photo/image editor) or to your background video (with your video editor) before creating the menu in DVD-Lab. There is no audio in the preview, which can sometimes make setting chapter-points tricky. It's no longer being developed or updated (although it does run on Win7) and it does not make Blu-Rays.
A couple of other possibilities are DVD-Styler
(FREE!!!) or Muxman
($35 USD). These two programs don't seem to have any "artificial" limitations, but they don't look easy to use.