Can I copy recordings from TiVo box on to a DVD disc?

Yes.

Connect a DVD recorder to the Tivo (OUTPUT from the Tivo to the INPUT on the DVD recorder.)

Set the DVD recorder to the input where the Tivo is connected. This is not a channel. It's an input, like AUX1 or IN1.

Put a blank DVD into the DVD recorder.

Start playing a recording on your Tivo.

Hit Record on the DVD recorder.

When the show is finished, hit stop on the DVD recorder.

When the DVD is full, finalize the disc. Follow the directions in the DVD recorder's manual on how to do this. If you don't do this, the DVD will not be playable on other DVD players.

Yes as long as the program isn't copy protected. Most premium channels are.

I copy Disney channel shows all the time for the kids from my DVR to DVD. Note that it will be a Standard Definition copy. On DirecTV, I have to change the resolution before recording.

I have composite RCA (Red/White/Yellow) cables from the DVR to the DVD recorder.

I used to have a TiVo and it had a "Copy to VHS" function. That simply created a brief title frame and started the playback; don't know if new TiVOs have that feature anymore, but all you need to do is start the playback and the record at the same time. Note: you won't be able to change the channel or pause or do anything else while recording.

Be sure to "finish" the DVDs when done recording so you can play them back on other players.

That depends largely on whether or not the program has an "anti-copy flag".

If it does, all DVD recorders will refuse/fail to copy it.

A huge problem with this is that there is no indication of the flag

other than the reaction of the recorder.

Another possible stopper is Macrovision encoding,

which distorts the video signal.

A SIMA GoDVD (model CT-2 or similar) gadget will defeat this.

Otherwise, connecting the video and audio outputs of the Tivo

to corresponding inputs on the recorder should be sufficient.