This article is from the CD-Recordable FAQ, by Andy McFadden (firstname.lastname@example.org) with numerous contributions by others.
A program that copies the entire disc as an image should work. Don't
try to copy it as a collection of files.
You can create a hybrid HFS (Mac), Rock Ridge (UNIX), and Joliet (Windows)
CD-ROM with "mkhybrid" in section (6-1-32). The output of the program is
a simple ISO-9660 image file. It stands to reason that you should be
able to copy such discs as easily as you can create them.
The same applies to copying arbitrary discs from the Mac, or any other
platform -- just copy it as a disc, and you should be fine.
If you're trying to copy a game, and it doesn't work, see (3-39).