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K3B is really good. I don't know of anything that is Ubuntu-specific, but K3B is just one of the best out there. If you can't use it or don't like it, Xcdroast is ok, and I like to use the good old cdrecord command line util sometimes. cdrecord is the easiest for a quick, no BS, ISO burn now and then.
I would go with k3b as well, for me its got t be one of the best opensource tools out there. You could also try Nero Linux, but you will need to have a valid Nero Licence to get the free Linux version.
I assume you can add mp3-burning support (as audio) to K3B in Ubuntu 6.06 by installing libk3b2-mp3 after which it should "just work". You might also want to check the K3B configurations if there is any.
For Ubuntu 5 Hoary there was this libk3b-mp3 but that k3b2- is for Dapper I suppose. The reason why it's not there already is most likely because of the same reason you can't play mp3 files by default - it's this copyright hazzle that's going on everywhere. So you need to manually enable the reposity that has the mentioned package and then install it.
EDIT: at the moment, as far as I know and after I've tried many applications, K3B has proven to be the best one can get at the moment. Most, if not all of them, use cdrecord and similar apps as their backend so after all you're just looking for a front-end to those apps..but K3B is my choice if it's about burning something to an optical disk using a graphical user interface.