This article is from the CD-Recordable FAQ, by Andy McFadden (email@example.com) with numerous contributions by others.
Platforms supported: UNIX (several), Windows (95, NT), Mac, OS/2, BeOS, VMS, ...
A collection of freeware software and drivers for burning CDs under an
impressive variety of operating systems. Source code is available. See
the web site for an up-to-date list of features and supported systems.
(Note the package is now called "cdrtools".)
Supports DVD-R as well.
There are a variety of front-ends for cdrecord. One of them, X-CD-Roast,
is listed in section (6-1-40).
This is commonly used with "mkisofs" (6-1-10) for creating ISO images.