growisofs -dvd-compat -Z /dev/cd0 -J -R -r -V volume-name /path/to/data
-dvd-compat indicates that the disc should be finalized, so no additional data can be added
-r sets permissions to sane defaults that work cross-platform
-V creates a label on the volume, no more than 32 characters
If there are files bigger than 4GB, (or 2GB on an old OS) you are going to have a bad time. The largest file supported by ISO9660 is
2^32 - 1 = 4294967295 bytes
But, because of a bug in genisoimage, which checks for size >= (off_t)0xffffffff, the size limit of an individual file is actually
0xfffffffe = 2^32 - 2 = 4294967294 bytes
References: