If you prefer to burn CDs or DVDs from a Graphical User Interface, then I suggest using either gnomebaker (for Gnome) or k3b (for KDE). You can use yum to install the programs:
~> sudo yum install gnomebaker k3bPress 'y' when prompted to install the programs and any additional dependencies. After it is installed, source your ~/.bashrc file:
~> source ~/.bashrcAny of the installed programs can now be launched from the command prompt.