If you already have a pre-made iso image, you can just burn it directly with any program that supports burning iso images. I don't know if Roxio does, but Nero does, and the freeware burnatonce does also:
If you need to make the iso image first, burnatonce will work for you as well. It provides a GUI to a Windows port of the command-line mkisofs program (originally a unix/linux program) that makes the actual image and, true to its heritage, supports Rock Ridge extensions.
If you prefer not to download burnatonce and use its GUI, you can instead download a Windows port of mkisofs directly. You can find it as part of the cdrtools package:
ftp://ftp.berlios.de/pub/cdrecord/alpha ... 32-bin.zip
Once you have made the image with mkisofs, you can burn it with the cdrecord software included in cdrtools or any other program that will burn iso images.
By the way, since burnatonce is a GUI to mkisofs (and cdrdao), you will find those programs included as part of the burnatonce distribution. Check the "external" subdirectory of the burnatonce installation directory.