I have heard this is possible but I don't know how. So if anyone has any information I would appreciate it.

I found this Adam , might help you out.

How To Transfer DVR Recordings to DVD (http://www.howtodothings.com/electronics/a4019-how-to-transfer-dvr-recordings-to-dvd.html)

This solution will also allow you to record live TV directly to a DVD so the DVD recorder is functioning as a VCR.

I would imagine since almost all DVR / TiVo boxes have hard drives, there must be some boxes where you can copy the data direct for the best possible quality.