How can I burn a CD from iTunes and include CD track names and cover art image
You can't.

CD do not contain any image anywhere. What happen when you insert the CD is that iTunes looks at the number of songs, their length, the length of silence between song and derives a number from it. It then asks the iTunes Store to find if a CD with this pattern exists. If it does the iTunes Store returns the cover art and all the metadata about the CD (Artist, album name, song names...).

For CDs you burned yourself you can't provide this information to iTunes just from the CD. Unless you find a label to release your CD to the masses and then Apple will add it to its list.