To create the IFO/BUP files for the VBO files I use a program (the IFO/BUP files are the same file but with different names)
dvdauthor -o <path-to-file> -T - To generate the Table Of Contents file (TOC) cp *.vob <path-to-file>/VIDEO_TS - Copy the files into the video directory dvdauthor -o <path-to-file> vobs
To generate multiple BUP files from the IFO files you could use something like
for file_i in *.IFO; do cp $file_i `basename $file_i .IFO`.BUP; done
Burn to disk the vcd Image
To burn the dvd files I use a program called K3B for ease of use (K3B is very self explanatory).