Unfortunatly, your asking the impossible, audio cd's are only 2 channel sound, though they do support 4 channel (i've never found one that has this, nor have i seen any burning program offer this option). I have used foobar 2000, windows media player and winamp and all play my mp3 files back in 5.1 surround, because of the settings in the programs. As for why some do and some dont, cant answer that, other than it may have been whatever the original source was.
However sonys SACD players play in 5.1 surround, http://www.sonymusic.com/sacd/faq/index.html, i dont know of any program or drive that can burn these types of disk.