The easiest way I've used is our Panasonic DVD/VHS recorder-player combination unit. Just stick in the blank DVD disk and the recorded VHS tape, format the disk if needed, and hit the shuttle button to copy VHS>DVD.
If you don't have a combo unit, there are several ways to hook your VCR to your computer, including devices specifically designed for transferring video and data and that have any necessary software for the transfer included. Programs included with Windows XP and Vista or Windows 7 may already have transfer ability if you can get the right cables. Once on your computer's hard drive you may be able to edit the videos if needed, depending on what software you have available, then simply burn to your computer's DVD recorder drive.
Unfortunately, when you get the computer involved, things don't always go swimmingly, and compatibility problems or technical issues that need sorting out can ruin your day. I much prefer not to mess with that, and just use my combo DVD/VCR.
You asked what the simplest method was, and the combo unit is nothing but simple.