The best is EAC. I use it for burning CDs.
Introduction ? Exact Audio Copy
Combine it with Memorex Black CD-Rs and you can get better than store bought CD sound. I burn only wav files for best quality so you may need to read the tutorial for your needs.
Also you can get online help by Googling EAC forums.

EAC is F-R-E-E. It was written by the guy who broke the DVD copy software.