There are several free burning programs that can do this for you.
ImgBurn or CDBurnerXP would be two that I can remember off the top of my head.
I use ImgBurn for most of my burning chores these days. To burn your files, just click on Write Files/Folders to a disc, then once the program window opens, go to Output and click on Device. This will send the files you add straight to the blank disk when you start the burn.
I've included an image of the controls in this mode (Build Mode), showing where to click to add files or folders.
You can find it here: www.imgburn.com
Here are some guides for Imgburn.