you can use cdrecord-prodvd, for private use you can get a free key.
create image
mkisofs -v -r -J -o /tmp/dvd.img /tmp/DVD-INHALT
brun image
cdrecord-prodvd dev=ATAPI:0,1,0 -v dvd.img
blank dvdrw fast
cdrecord-prodvd dev=ATAPI:0,1,0 -v blank=fast
blank dvdrw complete
cdrecord-prodvd dev=ATAPI:0,1,0 -v blank=all
an other program
http://fy.chalmers.se/~appro/linux/DVD+RW/