Windows Media Player will compile audio cd's to play in cd players. It's true that some of the old players were specific to a single format. They have grown quite a bit over the years. If what you want to use the cd in is fairly new it may support the mp3 format. If that's the case you only need to copy the mp3 files onto the disk. In most if not all cases though, the disk has to be closed after copying the files over. That means that you can't write to the disk anymore when you're finished.
I haven't used Roxio in a very long time and have no idea what it can do these days? I have been using Infrarecorder for quite a while since it was the only one for a while that supported 64bit systems. But even at that I don't use cd's for music. My players in the cars use flash drives and play mp3's.
"Success is not final, failure is not fatal: it is the courage to continue that counts." Winston Churchill