Best software to use in my opinion is ImgBurn. The interface is pretty clear, and the process fairly self-explanatory.

1. From the main screen, select "Burn Files to Disc" (assuming the V3s you have are in Video_TS folders and not ISOs (image files).

2. Browse for the Video_TS folder of the film you're burning.

3. You may do it automatically once the blank disc has been inserted, but if not, press the calculator button on the right hand side of the screen to calculate disc/burn parameters.

4. If presented with layer break options, pick whichever one you wish from the list (each is accompanied with a preview, so you'll see where in the film it will occur). I believe I went with the first option (54:27?), which placed it at the beginning of the Alderaan destruction scene.

5. The program may prompt you to address a few other things (volume labels, etc.).

6. Hit burn and you should be done.

Edit: Ah, MattMahdi beat me to it :)