I like to use Toast Titanium 5. All the functionality of 6, but cheaper now. 😉 It works in Panther, but you need to get a software patch (free on their website). Otherwise, it runs fine in Jaguar. DVDs, CDs, and stuff that I have never heard of before.
Oh, BTW, the one that I use is 5.2.3 but I belive 5.2.1 works too...And if you run the earlier software, it just dosn't do anything so you would need to force-quit it. The later ones work the best in terms of bug fixes, but overall I have never had Toast make me a toasty CD, aka a coaster, aka, a dead CD.