Arson is a GUI interface for CD burning and ripping by Tony Sideris. It is released under the GPL. Arson is designed with KDE in mind, although will work with any desktop environment.
Probably the easiest way to create a CD in Arson is to drag files from the file manager and click the burn icon when ready. The interface is tabbed, with tabs for the common types of CD - Audio, Data and VCD. Which tab you select determines the kind of CD to be made.
To create an AudioCD drag audio (mp3, ogg, etc) files onto the audio CD pane. Video files can be dragged onto the VCD pane, and any kind of file/directory can be dragged onto the Data CD pane.