Debian used to ship "mkisofs", but had to fork it as "genisoimage" in Debian Etch.
Creates ISO-9660 CD-ROM filesystem images
genisoimage is a pre-mastering program for creating ISO-9660 CD-ROM filesystem images, which can then be written to a CD-ROM (or DVD-ROM) using the wodim program. genisoimage now includes support for making bootable "El Torito" CDROMs, as well as CDROMs with support for many formats, including Rock Ridge, Joliet, and Apple HFS.
The package also includes tools needed to create compressed isofs images (mkzftree from zisofs_tools source).
The options (-RJ) will preserve long filenames, casing and Rock Ridge extensions (long mixed-case filenames and symbolic links for *nix).
-J Generate Joliet directory records in addition to regular iso9660 file names. This is primarily useful when the discs are to be used on Windows machines. The Joliet filenames are specified in Unicode and each path component can be up to 64 Unicode characters long.
-R Generate SUSP and RR records using the Rock Ridge protocol to further describe the files on the iso9660 filesystem.
Figure out the device to use using wodim -scanbus, available in the wodim package.