Yagoburn (Yet Another Gui Optical BURNer) is an intuitive GUI wrapper around cdrkit and dvd+rw-tools for burning optical media on GNU/Linux systems. It uses the wxpython toolkit for the GUI, so it blends perfectly with a GTK+ environment, and is free from any heavy desktop environment dependencies.
Simpleburner is a simple CLI application to make burning CDs and DVDs easier. It writes a directory with your files to burn to a CD. You have to set up some things like ISO image name and location for it. It can be run in modes like test burn, makeiso-only, or burn-only. More information is included in the help message.