I've been using AllgroCDFS for years on my Amiga's with the FastATA MKIII buffered interface boards (which as has been said you really need or the 4xEIDE in order to use it).
I've never had the need to make any UDF disks though but if you're just needing to use the full space on a 4.7GB DVD (+R, -R, +RW, -RW) then AllegroCDFS will easily allow you to burn such disks on your Amiga. It's really useful for those things where 4GB is just not enough to store things on and you need that extra few hundred MB of data space over the 4GB to burn a disk...
For instance right now playing on my iMac here is a DVD full of my MP3s which is 4.38GB in size and burned on my A1200 it's in ISO 9660 (rockridge) format...
I wrote some cli/shell utils for burning/ripping DVDs on an A1200 a while back for use with my FastATA and AllegroCDFS which are available on Aminet (030 at least recommended) Im not sure what/if they work on any other set ups or DVD/CD filesystems, as I only have A1200s these days to test them on...
The utils are easy to use but can't I can't guarantee they will work on everyones set up as they were really only written for my own private use and A1200 set up...
Probably not what you were looking for (as I say I've never had to use UDF myself) but maybe worth a look if you're just needing to use all the available space on a 4.7GB DVD (PS:If you have OS4.0 then the excellent AmiDVD is the best DVD burning prog on the Amiga in my opinion)...
ADVDutils On AmiNet