Best DVD Authoring/Menu Creation Software

Hey, I have some clips exported from FCE and I want to burn them to a DVD with a menu. The menu needs to be fully customizable and the software needs to have good quality dvd authoring. Also something without many bugs would be good too. I have yet to experience a DVD authoring/menu creation software that I don't get frustrated with because of limitations/quality/bugs. Anybody have some good programs? I have both PC and Mac.