Yes, with cdrdao you have to make a toc file.
But it's VERY easy. Once you make the first one, you can even just edit it for subsequent cds.
There is an excellent mp3-cdburning howto at
www.tldp.org
It'll give you all the lowdown on CDRDAO, cdparanoia, etc.
It's all from the command line, but don't let that scare you
-Shade