You might want to read http://www.dvd2one.com/osxtoast.php it includes detailed instructions on backing up a DVD using MacTheRipper and Toast. If you have no need to shrink the DVD or use a different DVD program to DVD2oneX you can just skip that part.
The video tab allows you to drag and drop any QuickTime ready video file (if you've got the codec - you can use it) and convert it to DVD, SVCD, or VCD, or if you highlight the advanced options you can actually drag and drop DVD-Video from VIDEO_TS. You can also select DVD-ROM (UDF) under Data/Advanced to do the same thing.