Sorry but I've never burned a VCD so I'm not sure which is best but probably cd-r will work. Not all dvd players will play VCD, and sometimes it depends on what brand of cd-r your burning with whether it will play in your dvd player.
This site is loaded with info but it can be difficult to navigate:
http://www.videohelp.com/vcd
I have a dvd burner and I use dvd+rw. They cost a little more but once i see a movie I don't save it I just record over top of it
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