For putting labels on the actual DVD, you can use any 2d applications. Just make a template, however, do NOT ever put a paper/sticker label on a DVD. Just use a printer that prints on inkjet discs or a thermal printer for thermal discs. There is also lightscribe, but only if you have the lightscribe burner and DVDs. You can try Nero Cover designer for designing them, or something like Photoshop or paintshop pro. If you have a printer that does it, it will usually come with some software anyways. To make a cover label, use a 2d application. You can set up a template and then design it yourself. I only use photoshop or paintshop for editing and printing covers.
lightscribe is a nice concept but unfortuantely the discs are slightly more pricey than what i would buy and its only black and white here. THE CANON PIXMA 4000 and above series printers,print directly to printable disc and have its own software bundled with the printer.I have one and recommend it .Later versions of this printer have 6 ink tanks plus while mine has 5. Quality is very good and the time it takes is like 20 secs, also you use less ink.I have done 250 discs so far and am just under half way through the cartridges.So i estimate about 400 discs per 5 cartridges.Thats pretty good .