Scale and Shift Analog Voltage with a Single Op Amp?
Here's the topology I would use.







simulate this circuit &ndash; Schematic created using CircuitLab

Start by calculating the gain you need.

$$
A=(10--10)/(2.75-.54) = 9.05
$$

For a noninverting amplifier configuration, 
$$
A=1+R_1/R_2
$$
Arbitrarily choosing R2=1k gives R1=8.05k

Now to deal with the offset, when VDAC = 0.54V, the output is desired to be -10V.  The inverting input will be at approximately the same potential as the noninverting input (to within the open loop gain of the opamp).  Calculate the current through R1.
$$
I_{R_1} = (.54V--10V)/8.05k = 1.309mA
$$
Since no current flows into the noninverting input of the opamp, the currents through the resistors must be the same.
$$
I_{R_1} = I_{R_2} = (V_{os}-0.54V)/1k
$$
You can generate Vos using a resistor divider from 12V such that the Thevenin equivalent ouptut resistance is 1k to replace Vos and R2.  Alternatively, you could choose any resistor divider with the correct output voltage and then set R1 to be 8.05 times its Thevenin equivalent output resistance. 







simulate this circuit

The output voltage of the voltage divider is
$$
V_{out} = 12R_4/(R_3+R_4)
$$
This determines the ratio of R3 and R4, but is not enough to give a specific value.
The other constraint is that in parallel, the two resistors look like a 1k resistor
$$
R_3R_4/(R_3+R_4) = 1k
$$
This circuit is equivalent to Vos and R2 together.