You could demultiplex those VOB files to MPEG-2 clips, join them to one file, and burn it to a DVD disc as a regular file, but then you'd have to have a player that can play files like that. Some DVD players can play AVI files, so I guess some could play MPEG-2 files from ISO9660 discs too.
You can't just burn the contents of VIDEO_TS directory to ISO9660 DVD, not even an UDF / ISO9660 hybrid one, if you want it to work in normal DVD players. The files need to be burnt to specific locations on the disc on specific order. That's what DVD authoring software is for.