You shouldn't have trouble doing this. Years ago I used to use a free program called DVDShrink and it could do exactly as you described. It lists all the stuff on the disc, and you just select the parts you want. Despite the name of the software, shrinking is not required, you can keep the original quality if desired.
Of course this is an old school way and I'm sure there are many newer products that do the same thing and more.
Of course this is an old school way and I'm sure there are many newer products that do the same thing and more.