They're based on the 2004 DVDs, so yeah, single layer and AC3 and Empire and Jedi in particular are flawless. Without flaw.
A Dual layer version of Jedi exists, because it's a longer film and I wanted to preserve the original 2004 version of it. But the single layer isn't yer ugly "looks shrunken" DVD. I defy you to tell the difference, even on a huge screen.