iDVD was, for a brief time, available on OS9.
According to the iDVD Site (Archived), "iDVD is available only with the purchase of certain Power Mac G4 systems".
When I bought my Quicksilver 2002, second-hand, around early 2005, iDVD was on the recovery discs. I have yet to find these discs, but I was able to extract the folder from this disc set, already on the garden.
I was never able to use this, as it requires an Apple Superdrive (which i take to mean a Pioneer burner, flashed with Apples' firmware), and my QS2002 only had a Combo drive. It shows an error message on launch if it can't find a suitable burner, so unless someone can develop a patch, it's useless to most people. I couldn't take a screenshot of the error message in QEMU, as launching it in this environment just freezes the system.
Supplied as a MacBinary encoded diskcopy 6.3 image (so you won't have to wait an hour for Stuffit Expander ).
Mac OS 9.2.2 - Original Superdrive Required