GNU/Linux Desktop Survival Guide by Graham Williams
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Nautilus CD Creator

Debian Packages: nautilus-cd-burner

Nautilus provides by far the simplest approach to burning data CDs. Simply copy documents into burn:/// (or select Go->CD Creator to get the burn:/// folder) then click on the Write contents to CD button. An option is provided to blank a CD-RW before burning. To burn an existing ISO image right-click on it to select the Write to CD... entry.

If, when you select to Write to CD the only option is to write the CD image to file, then you probably have a permissions problem.