mkisofs for creating iso image from files.
cdrecord for writing those images.
Frontends (all the packages that depend on cdrecord backend):
toni@mario:~$ grep-available -F Depends 'cdrecord' -s Package,Description -d
Description: A parallel burner that allow you to write to one or more CD-Writer at once
Description: GTK+ based CD mastering and burning program
Description: CD-R(W) backup utility
Description: System to backup your filesystem to CDs
Description: Tool for burning CD's - common files
Description: A KDE CD burner with an easy interface
Description: burn audio CDs directly from MP3s or Ogg Vorbis files
Description: common GUI for writing CDs under KDE
Description: run your system from cd without need for disks.
Description: X based CD-writer software
Description: Backup your data to CD-R/CD-RW
Description: SimpleCDR-X is a frontend for CD writing and mastering.
Description: CD burning module for webmin
Description: The ECLiPt Roaster
Description: Gnome Toaster, a GUI for creating CDs
I nowadays don't use any frontend, but few words:
-k3b, newer used, but many has said it is quite good.
-xcdroast, easy, simple, used few times. The file selection system is somewhat weird, but otherwise it is ok.