Get NERO it's about the best software for starters.
Everyone tries to burn the copies as quick as possible. Audio should ALWAYS be burnt at x1 speed. I have a friend that works for SONY and he DJ's on a professional basis and had the same problem but only with the cd in the latest DVD player. He re-burnt the cd at x1 speed and it then worked. They also work on is top quality Denon DJ double CD decks. The faster you burn the more jitter errors you get.
I don't know what brand of cd you r using but I have used Kodak silver and gold, Trust and Princo all at x1 speed and I have no problems with audio.
You can write data disk's just about as fast as you want.
Try it and let me know what happens.