Yes. I just popped in a CD-R into my iBook running 10.3.9. You should see an "untitled CD" on your desktop. Then when you open the a Finder window you will also see it in the sidebar. There will be one of those radioactive symbol things that you click to burn the CD. Also if you right click (Ctrl click) on the CD icon, you should see "Burn Disc" as well. Just copy your files onto the CD (I think it's actually file and not just aliases with Panther), and burn the CD/DVD.
Also when you click and drag the CD icon, the Trash can turns into that radioactive symbol. So I think if you drag it to that, you can burn it as well.