Go with DVD+R, and set the booktype to DVD-ROM (how to do this will vary with your drive, OS, and burning software). I haven't personally encountered any DVD players that won't play DVD+R discs of reasonable quality, but older ones will require the booktype to be DVD-ROM.
I usually get Verbatim media, and I've never had any issues with it - there are other good brands, though; I've seen Taiyo Yuden recommended, but none of my reasonably good DVD media has given me any trouble, so if you stay away from the really cheap ones ("Playo" was one I would not recommend, since I had issues with it) you should be fine.