How can I download Ubuntu on my PC, burn it to a disk, and install it on my iBook G3?
For an iBook G3, which has a PowerPC CPU you need the PowerPC port of Ubuntu. I believe the latest release that supported PPC is 10.10, and would probably be better off with 10.04 (since it has LTS support).
The ISOs can be found here: http://cdimage.ubuntu.com/ports/releases/ And the image needed would be the powerpc images.
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Links for the PPC downloads are maintained on this page https://wiki.ubuntu.com/PowerPCDownloads . The one for xubuntu 10.04 is missing though so I'll give it to you here: http://cdimage.ubuntu.com/xubuntu/ports/releases/lucid/release/
For 11.04 and 11.10 you'll have to install via the mini.iso. There are detailed instructions linked on the downloads page. For a G3 ibook you may prefer to install lubuntu or xubuntu.