You need a DVD recorder to do it. I happen to have one of those and have attached a VCR directly to it to transcribe a number of old VCR tapes I have. Very simple to do, except you need a DVD recorder (and a VHS player), and I imagine they are around $100-$200. But it might be worthwhile to buy a DVD recorder if you have many tapes to transfer. You can also copy things directly off your TV box to DVD. I built up a sizeable library of old movies that way.
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I was way off on the price of a new recorder. Most DVD recorders I see now run in the $500 and up range. When I bought mine over 10 years ago, I think I paid around $200. Might be able to find a used one much cheaper on Craigslist, etc..