Why don't you have a look at vcdhelp.com?
Don't quite know hwy you'd want to do that though, seems kind of backwards to me, lots of people manage to record DVD onto CD (XVCD) though.

Biggest issue is the set top players. If you only want to play it in a PC you could just burn a mpeg2 stream at whatever res you desire and WMP will play it so long as you have a mpeg2 codec.