Nero 6 is excellent, it even lets you burn dual layer discs!
All you need is a program called InCD for DVD RW discs
DVD RW discs are just like floppys, so you may not even need that program. Just use DVD Shrink or any other program to burn an image of the DVD onto your harddrive. Then insert the DVD RW, and copy all the files and paste them all onto your DVD RW.