DVD Shrink is free but I find it's compression to be poor compared to DVD2ONE or DVD95COPY. Ther is one thing it does nicely however.
The typical episode disk has four episodes,but if you want to retain full DVD quality you can only fit two. DVD Shrink in autor mode allows you to select the two episode you want and then select no compression. It's very fast. You wind up with both episodes and the required ifo files to burn to DVD-R. No menu but you have chapters nad any audio and sub-streams you select.