This article is from the CD-Recordable FAQ, by Andy McFadden (firstname.lastname@example.org) with numerous contributions by others.
Platforms supported: Windows, UNIX (many)
Sources (in "cdrtools" package) at ftp://ftp.berlios.de/pub/cdrecord/
This allows creation of an ISO-9660 filesystem on disk or tape, which can
then be copied to a CD-R. It can create discs with Joliet, Rock Ridge,
and HFS filenames, and can be configured to ignore certain facets of the
ISO standard (like maximum directory depth). Recent versions support
multisession and several kinds of bootable discs.
This can be used in conjunction with "cdrecord" (6-1-20) to write discs
under UNIX. For other platforms, chances are good that your favorite CD
recording application is able to write ISO-9660 images. (If not, there's
probably a "cdrecord" port for your platform of choice.)
See http://sunsite.unc.edu/pub/Linux/docs/HOWTO/CD-Writing-HOWTO for a
"HOWTO" guide on writing CDs under Linux.