Dvd architect. Despite the name it's very good for blurays. It's pretty affordable, it's gui is very easy to use and intuitive, and you can make the menus however you want them. There's not really any free alternatives unless you don't care about the menus, and it's much more user friendly than most programs for bluray authoring. The only real limitation is no dts audio, only pcm stereo or dolby ac3 (2 or 6 channel). But it let's you go up to the full 640 kbps on the ac3 so I don't think that's really going to be a big deal for most people. 640 kbps ac3 sounds just fine.