Toast will do it. But you should know that burning DVDs can take hours. It would be much easier for you to connect your Mac to the TV with an HDMI cable, or get an AppleTV and stream to it.
Yes there is. Burn is a favourite: http://burn-osx.sourceforge.net/Pages/English/home.html
Make sure that you choose to make a Video DVD, and you will have to accept the option for Burn to convert you mp4 to mpeg, which is what dvds require.
A search for DVD creator in the App Store will bring up a few, but they all basically do the same job in the same way with just a different GUI.