Tmpgenc authoring works 4 - great for both DVD and BD authoring, I did some.
What is important to me:
- can add 2 audio channels
- can make a note page
- can change the look of the menus, can change buttons to present or not.
- can do popup menu, though I havent tried.
- can add background audio and/or video to the menus
- you can change the audio/video quality