DVD-Video can not hold only audio information, however they *can* encode a very small monochromatic image to generate a disc that for all intents and purposes is "audio only"
I can't believe anybody hasn't mentioned it already, but I do this all the time (burn DVD-Video discs with audio) and there is a very simple solution.
The program I use to make such a disc is called Lplex and takes both FLAC and WAV directly. All you do is drop a folder containing the desired files (and not exceeding the space of a single layer DVD [remember it all gets decompressed to LPCM, so the filesize shown in a folder might not be representative of the "on disc" size] dual layer DVDs apparantly CAN be made, but it deosnt seem easy, and with the premium cost you pay for the media, its always more economical to stick with single layer anyways)
This is an open source command line utility. Don't get scared off by command line, using it is actually quite easy. All you need to do is configure the ini file (using a basic text editor such as notepad). All of the information is in the README file, I have included the important parts from the README for you.
These are some excerpts taken directly from the README that deal with configuring the ini file
'video=ntsc' (or 'pal' or 'secam')
AUTHORING: the TV standard to use; must match your dvd player (for
the purposes of dvd-video 'pal' and 'secam' are equivalent).
'alignment=seamless' (or 'discrete' or 'indiscrete' or 'none' )
'shift=backward' (or 'nearest' or 'forward')
AUTHORING: direction to shift the track startpoints if 'alignment'
is 'seamless' (see above).
'create=iso' (or 'dvd' or 'dvdstyler' or 'mpeg' or 'm2v' or 'lpcm')
'workPath=[current user's temp folder]' (or any valid path)
AUTHORING: globally redirects temporary workspace, same as above.
-depending on your region, use ntsc or pal
-since you said you want gapless, use seamless
-Due to limitations in the DVD standard, not this particular software, the audio MUST be shifted if gapless playback is desired. The shift direction is a matter of preference. The shift will not be noticeable if you are playing from start to finish. It only concerns you is if you if you happen to skip forward or backwards to a track. Even then you will only hear the first little bit (less than a second) of the end of the previous song (for shift=backward).
-for the "create" option, I use dvd. as I want the output to be in DVD structure eg. VIDEO_TS folder.This is useful for putting multiple albums on a single DVD. Create the VIDEO_TS for each separate album, then use whatever software will combine all of these "movies" (audio with a small portion of video) into a single image. I use nero Recode. im sure somebody knows of some free alternative.
In the DVD world this is called tracks and titles.
Title 1 will contain x number of tracks up to 99 (99, again DVD-Video standard)
Title 2 will contain y number of tracks up to 99
.
.
.
Title n will contain z number of tracks up to 99 (up to 99 titles *I THINK* but you will probably never go past 6 in all practicallity)
using a dvd remote it is fairly easy to navigate to each without the need for making menus. Thus making various comilations very simple.
Otherwise for compilations (up to 99 tracks, again DVD-Video standard) which you just want to be on one "title". use the create=iso, This will be burnable with most if not all burning software, free or otherwise.
A helpful bit of information that people do not usually know about, is the sample rate and the bit depts and channels supported by DVD-Video. Below is a table which can be found in the README showing the type of audio permitted (yes) and the type of audio supported buy lplex (+). you can use this to your advantage. namely for being able to fit more songs on the DVD at the expense of using 16 bit.
(THEORETICALLY) PERMITTED AUDIO
According to http://www.mpeg.org/MPEG/DVD/Book_B/Audio.html,
dvd-video allows the following types of lpcm. Lplex presently
attempts to support the varieties marked '+'.
Rate Depth : Channels
(khz) (bits) : 1 2 5(+1) 8
-------------------------------------------
48 16 : Yes+ Yes+ Yes+ Yes+
20 : Yes Yes Yes -
24 : Yes+ Yes+ Yes+ -
96 16 : Yes+ Yes+ - -
20 : Yes Yes - -
24 : Yes+ Yes+ - -
Whenever resampling must be done I use Foobar with the Secret Rabbit Code plugin. With the "Best Sinc Interpolator" option.
Again all this stuff is FREE. Happy Listening!!