The best and easiest way is to use a standalone DVD recorder. I have the Liteon 5005 (which doesn't seem to be available anymore) but others from click here
this will record to DVD in real time. ie. a 3 hour tape will take 3 hours.
I also have the Dazzle Fusion USB capture unit which works well but to capture, and burn to DVD will take at least 7 hours for a 3 hour VHS tape.