There are two ways but only one may work
In days gone past I had a "Dazzle Video Converter" for my computer.. and they still make them. You can also get something like a Hauppauge Win-TV (I like the Replay Edition) for your computer.. These come in two or more flavors, One is a card for a desktop or tower type computer. the other is USB and will work on a sufficiently powerful laptop. Now you need to check the specs before you buy to make sure they can do it all but... here is a list of things they can do (Depending on the model)
1: Over the air ATSC Digital TV
2: Over the air or locally generated NTSC TV (TV out on the VCR)
3: A/V input (red/white/yellow cables)
4: HDMI in
5: Other in
Some have multiple OUTS too (All but RF)
I still have one such converter here but it's onlder (No ATSC) and I no longer have the drivers for it.
Plug it up to the VCR. Tell the computer to RECORD then use any good DVD authoring software to burn the DVD.