You should be able to do this on the Panasonic DMR-E60 which has 4 inputs. Page 35 of the manual states "You can record audio and video being played on DV equipment connected to the DV input terminal. Haven't a digital camcorder so haven't used the DV input but have no difficulty recording from VCR, Freeview box, or ordinary TV. This DVD recorder and Multi-region player (modified) has four recording speeds plus a flexible recording speed which adjusts to the time input you select. Its £349 (including multiregion mod and free varriage by Omega Express from click here
I am quite impressed with LP results which gives 4 hours on a 4.7GB DVD-R (Verbatim x2).