[pawel]

High quality FREEWARE
1. You need to demux *.VOB files to separate video and audio stream:
Highly recommended is Project X http://sourceforge.net/projects/project-x/
To compile original files you would need to install 160 MB Java SDK.

Or another good and small tool is DGMPGDec
http://neuron2.net/dgmpgdec/dgmpgdec.html

2. Next, if the original audio stream is not in LPCM format, you need to convert AC3 or MP2 to WAV.

I prefer http://www.dbpoweramp.com/dmc.htm +
download http://www.dbpoweramp.com/codec-central-mp2.htm and
http://www.dbpoweramp.com/codec-central-directshow.htm

LPCM (48 KHz) has to be converted to WAV (44 KHz) to be burnt as CDR-Audio.

More you can find here: http://www.videohelp.com/tools?s=10#10 and
http://www.videohelp.com/tools?s=18#18