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This would depend on your distribution as to whether you have kde or another desktop. Most use K3b as the application within the environment.If you are using the 'cli' then cdrecord would be a good choice.
From the command-line you can use 'wodim'. Command-line tools like cdrecord and dvdrecord are actually a link to wodim on recent systems. Running 'man wodim' will give you a lot of details.
A good tutorial is available at IBM's developerworks site named l-cdburn.html, I don't have the exact URL, but a Google search should lead you to the proper place.
If you prefer GUI-tools you can use the built-in CD burn tool of the Nautilus file manager or K3b on KDE-systems.