I think that Adobe Encore DVD is the best DVD authoring program, mainly due to its integration with Photoshop. It takes time to learn the Encore DVD process, as the menu creation is a bit odd. However, it really is easy to use and can do much more than most prosumer DVD authoring programs. The only downside is that it costs about $500, and if you are just planning of producing a few personal DVDs, it is hard to justify the cost.
Sonic Foundry is also a good program, especially if you use Vegas Video as a NLE. Unfortunately, DVD Architect must be purchased with Vegas Video, and that package runs about $700.
I have not used any of the consumer packages (such as DVDLab and Ulead), so I do not know how they compare.