How do I take an mp4 and put it on a movie dvd?

Do I need to put it in ts files or will it burn like that? I know I can make a movie with idvd but can I make a dvd movie(viewable on a dvd player) using a burn folder?

Basically can I burn an mp4 vid and view it on my dvd player?
And can I use burn folder to make a dvd?

thanks

I would rather avoid using toast or any other 3rd party SW.