Actually, the link I posted won't work to convert RGB into clean composite. But it will almost work. If I remember correctly there will be artifacts due to improper hsync during vsync. But it might still be good enough for what you need.
This guy says his circuit works
http://alistairsserver.no-ip.org/public/vgatv/vgatv.html -- just a bunch of resistors and two transistors.
The problem is that during vsync the polarity of the hsync pulses needs to change.
The right way to do this is http://zxm.speccy.cz/dok/Konvertor%20VGA%20na%20PAL%20a%20NTSC/VGA%20to%20PAL%20and%20NTSC%20video%20converter.htm except it is now S-video, not composite.
The right way to make composite sync is with XOR gates as in the above circuit.