Generate XML from dataset tables

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C#

XML

.NET

VS2010

Hello all,

I have a dataset with multiple tables (3) and some relations between them. I want to generate a XML that shows this relations. Example of the XML i need to generate:

<?xml version="1.0" encoding="UTF-8"?>
<SalesTransaction xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../sales_transaction.xsd">
  <SalesHeader>
    <HeaderId>5149</HeaderId>
    <CustomerNo>D001</CustomerNo>
    <Location>M01</Location>
    <SalesPerson>123</SalesPerson>
    <Cashier>11</Cashier>
    <SupervisorId>32</SupervisorId>
    <SalesLine>
      <LineId>24240</LineId>
      <HeaderId>5149</HeaderId>
      <ItemNo>0330196</ItemNo>
      <UnitOfMeasure>COPE</UnitOfMeasure>
      <ItemUnitPrice>499.00</ItemUnitPrice>
      <Quantity>1</Quantity>
      <Item>
        <ItemId>405922</ItemId>
        <No>0330196</No>
        <Descr>BOJRA DRURI 12CP HOLLA STAEDLE</Descr>
        <Barcode>4007817144602</Barcode>
        <CategoryCode>ND</CategoryCode>
        <GroupCode>LISX</GroupCode>
        <WarrantyForComponents>true</WarrantyForComponents>
        <Blocked>false</Blocked>
        <ItemBarcode>
          <BarcodeId>1176611</BarcodeId>
          <ItemNo>0330196</ItemNo>
          <Barcode>4007817144602</Barcode>
          <LastDateModified>2012-11-23T23:55:09</LastDateModified>
          <Active>true</Active>
        </ItemBarcode>
      </Item>
    </SalesLine>
  </SalesHeader>
</SalesTransaction>

As you can see the table sales header relates to sales line,and it relates to item etc etc.

How can i generate this,or if its easier to generate it from sqlquery directly??

Thanx in advance.