Graphical User Interface
Note that one may well use these GUI programs on other desktops than their native one. Their Debian packages will pull in the necessary libraries when they get installed. This might consume substantial amounts of disk space, though.
They all do CD, data and audio, and DVD.
With BD (Blu-ray) your mileage may vary. xfburn of Debian 8 Jessie is supposed to work with BD-R and BD-RE.
Command Line Tools
genisoimage: Creates ISO-9660 CD-ROM filesystem images (iso files), controlled by options of mkisofs.
eject : Loads and ejects the tray of an optical drive.
cdrdao : Burns CD under control of a CUE sheet file.
wodim : Burns CD controlled by options like of cdrecord.
cdrskin : Burns CD, DVD, BD by options like of cdrecord.
growisofs : Burns DVD and BD. Can control a genisoimage run.
xorriso : Burns data CD, DVD, and BD. Emulates genisomage and parts of cdrecord.