you should give them the audio in .wav. You could FLAC it for them if you want to save space.
The mp2 conversion has nothing to do with the audio provided. The person authoring the DVD will do that conversion.
Use any burning program (I use Nero). Burn the .wavs as Data. Depending on how long the show is (how big the wav files are), it may or may not fit on one DVDr.