Cdrdao

cdrdao ("“CD recorder disc-at-once”") is a free utility software product for authoring and ripping of CD-ROMs. The program is released under the GPL. Cdrdao records audio or data CD-Rs in disk-at-once mode based on a textual description of the CD contents, known as a "TOC file" that can be created and customized inside a text editor.
"cdrdao" runs from command line and has no graphical user interface, except for third-party ones such as K3b (Linux), Gcdmaster (Linux) or XDuplicator (Windows).